IIRC - you only need vag-com if you have esp
you will want your engine running so the abs pump is 'on'
and really it's a 2 person job to do a pukka job of it (one to open/close the nipple, one to pump the pedal)
have you done it ever before? if not, buy a haynes manual for a golf iv - that'll confirm the order you need to do it in.
Mark