Being able to change brakes yourself is a useful thing to be able to do. One of the most frightening experiences while riding a bicycle is brake failure. Even high performance brakes can break or fail. Being able to change brakes yourself can save you money and get you back out on the road sooner.
The first thing you need to do is determine what kind of brake pads are installed on your bicycle. Cartridge brake pads are easier to replace than their bolt on counter parts. To tell them apart, look closely at the rubber pad that pinches the tire to slow it down. If it all looks like one solid piece, you're most likely looking at bolt-on brake pads. If it looks like the rubber piece can be detached from the hard plastic, you're likely looking at cartridge brake pads.
Before you begin you will probably want to flip the bicycle upside down and rest it on its handlebars and seat. This will bring the pads up higher and allow you to sit in a more comfortable position while working on the brakes.
To replace cartridge brake pads first remove the pin or unscrew the bolt that holds the pad in place. You were correct that the rubber piece can be detached from the hard plastic or metal piece. That hard plastic or metal piece is called the brake arm. Once you've removed the pin, slide the pad out of the brake arm. Take your new pad and slide it back into the brake arm. Most new pads will have arrows showing which way to slide them in. Make sure you check for them before sliding your new pad in. If there aren't any arrows or markings, look at one of the other pads on the other brake and mirror that one. Once the new pad is in place, simply replace the pin or bolt to hold the pad in place.
Replacing bolt-on brake pads is a little more difficult, but no prohibitively so. First remove the nut from the bolt holding the brake pad in place. Once you've removed the bolt, take out the old pad. Put the new pad in place and tighten the washer and nut but don't tighten it completely yet. Before fully tightening the bolt, make sure the brake pads are centered directly over the tire. Once they are centered, you can finish tightening the bolt.
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