Drain the coolant as above or take off the lower rad hose. If you want to flush you can run a hose and flush. Drain everything and reattach the hose if that's how you drained. Fill with close to 50/50 distilled. I usually just leave the cap off the reservoir and elevate it a bit, start the car, heat on and fan on low. Once you get hot air blowing top up the reservoir.
I have an A4 so likely a bit different. On mine there is a bleed screw on the top coolant hard line but it is plastic and cheap, I've already had to replace it with a metal metric bolt. That's why I say I usually opt to bleed the air out via the reservoir, works the best for me, pretty sure the cap is self venting anyway.
Here's a
B6 A4 one with pictures if it helps at all, different setup. Apart from how you decide to drain, filling it up is essentially the same if you decide to go the full flush route. I never have, I always just drain until it stops then top up with 50/50 distilled.
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