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You need to purchase a rear wear sensor and replace it with the brake pads. You only need one for the right rear I believe.
For brake pads I personally like EBC redstuff. They bite good and have low dust compared to OEM.
There is a service reset that needs to be performed via the Gauge Cluster. Its the same menu that you would access when changing oil. You can't reset the brake pad service light unless you also change out the brake pad wear sensor.
You only need to change the rotors (discs) if they are not within spec or if they are cracked or warped. If this is your first time changing the rear pads, you most likely won't need new rotors, but its best to check the thickness. If you don't have calipers to measure, you can take them to an autoshop and they can measure and resurface your rotors if they need it. The rear discs are actually not very expensive, so if you have any doubt, just go ahead and purchase new ones. Zimmerman and Brembo are your cheapest, quality options.
For rear discs I paid about $150 each for Brembo
Rear brake pads I know was less than $200 for EBC Redstuff
OEM Rear Brake Pad Sensor was around $35
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