I cannot speak to the "proper" procedure but this worked for me and stoutdog.
To drain in the following order starting with a cold engine; open the drain plug at lower right rear (e.g. passenger side) of radiator (a short piece of a 10mm hex key fits inside the plug and can be turned with an open end or rachet wrench); remove the cap on the plastic container on the firewall (this is in effect the radiator cap); open and remove the vent plug on the top passenger side of the radiator (Do this by turning the plug ccw to about 4 o'clock and pulling straight up). This will drain most but not all of the fluid in the system; how much is left is open to debate as the manuals are inconsistent on system capacity. If you want some suggestions on a complete drain look at
viewtopic.php?f=5&t=56486&hilit=citric alternatively you can repeat the fill/drain cycle about 6 times (as stoutdog did) to clear most of the old fluid. IMHO a standard Prestone flush kit can be installed in the hose from the viscous heater to the cab heater core to flush the system but I have not tried to do so yet so I'm not positive. PS per the FSM and a visual inspection there does not appear to be a valve in the cabin heat system so in theory the heater does not have to be on to drain the system although turning it on won't hurt and might help.
To fill in the following order still on a cold engine close the lower drain plug; refill the system AT the plastic tank on the firewall with 6qts of Xerex G-05 or Mopar equivalent (not something else like Prestone universal) to get the 50/50 mix; continue filling the system with water until fluid starts to come out of the vent plug hole; reinstall vent plug and close; continue fill until the fluid level in the plastic tank is 1/2" or so above the midline of the plastic tank; reinstall radiator cap on plastic tank. Drive vehicle for 15 min or so at full operating temperature. Park vehicle long enough for the engine to fully cool, overnight is best but 3-4 hours is probably ok, check fluid level and and refill as needed. That should do it but just in case keep an eye on the cold temp fluid level for the next several drive and cool cycles.
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