How do you remove the power steering pump on a 1995 ford taurus 3.1

First remove the serpentine drive belt, then you need a power steering pulley remover you might be able to rent/buy one at your local auto parts store, remove the pressure line and the return line. Then re-install the new pump the tool you rent or buy should come with the pulley installer. Fill it with fluid and start the car, dont turn the wheel let it run for a minute. Shut the car off check the fluid level, turn the car on and turn the steering wheel lock to lock 20 - 30 times until all of the air is out of the system.

How do you drain old fluid from lines before replacing with new fluid

Try a turkey baster or go to the auto parts store and purchase a section bulb. You will have to fill it run the engine, rotate the steering wheel left and right and suck it out a few times before it's flushed