While I'm not against flushing a transmission, I don't think it is always called for. The last transmission I flushed was on a Volvo 940 Turbo (the transmission fluid was definitely 'cooked'). I've done just regular changes on different cars since then.
AFTER changing the filter, I can just refill the transmission and ASSESS whether or not I still think it needs a flush. If it does, then I'll open 6-9 quarts of fluid, and get a section of fuel hose, a funnel, and a bucket.
1) Remove a transmission cooler line from the radiator, attach the fuel hose to it and put the other end in the bucket. Put a drain pan under the radiator and start the car. After 2-3 seconds turn off the car and see that transmission fluid is going into the bucket. If it is coming out of the radiator and into the drain pan, then I have chosen the wrong transmission cooler line (the return instead of the feed). So, I'll put back that transmission cooler line and remove the other one, put the hose on it, and put the hose in the bucket. Try to position the bucket so that you can see it while you are filling the transmission with fresh fluid.
2) Remove the dipstick, insert the funnel, and set the open quarts of fluid so that they are easy to reach (but not easy to knock over).
3) Start the engine again pour in the fresh fluid as the old fluid pumps out. Please note that the cooler lines don't have a lot of pressure and at idle don't have a lot of flow. Watch how fast the fluid is pumping out of the transmission and continually add new fluid. Try and pace yourself to not overfill the transmission.
4) As you watch, you will see the color of the fluid coming out of the hose get cleaner and cleaner. When you are happy with how it looks compared to the new fluid you are adding, turn off the engine.
5) Reconnect the transmission cooler hose to the radiator.
6) Fill the transmission to the proper fill height.
FWIW: I usually buy a case of transmission fluid when I buy the filter and gasket. I might use 3 or 4 quarts to fill the transmission after the filter change. If I determine that I want to flush the transmission, I will then open the remainder of the quarts. The fluid doesn't come out so fast that I'm in a panic about not keeping up, but I do like having the tops off of the bottles to keep things moving smoothly. If you want perfectly clean transmission fluid (what we used to call 'cherry cough syrup'), you might want to flush with 15-18 quarts of fluid. I find that a case of 12 usually gets the fluid clean. Not perfect, but clean.