What is the proper brake bleeding procedure for my 1996 Suburban? Also if I only replace one caliper, do I need to bleed all the brakes or just the caliper I replaced? Thanks!

This thread should help you on bleeding procedure:
http://www.automotiveforums.com/vbulletin/showthread.php?t=753684&highlight=brake+bleeding

I believe you should only need to bleed the caliper removed unless fluid reservoir became empty at some time.

Good Luck