How to change brakes on '01 T&C

I'm trying to change my rear disc brake pads and am wondering how to get them off. Do I need an allen wrench to loosen the two set screws on the back of the caliper?

Yes, you need an allen wrench to remove the two guide pins. Once you do, the caliper slips right off. Use a C-clamp to push the piston back into the caliper. Don't forget to either machine or replace the rotors.