Here's my "burping" procedure:
1. Park the car with the nose higher than the tail.
2. Remove the radiator cap.
3. Start the engine from cold and let it idle.
4. The coolant in the radiator will drop so top it up SLOWLY until it's at the bottom of the filler neck.
5. Squeeze the upper radiator hose intermittently to evacuate more air as you're topping the system up.
6. When the coolant level begins to rise up the filler neck and there are no more bubbles, replace the radiator cap.
7. Make sure the coolant level in the expansion reservoir is at least up to the FULL COLD mark.
8. Go for a drive (minimum 10 minutes).
9. After a minimum 6 hours cooldown, check the level in the expansion reservoir and top up as necessary.
10. You may need 2-3 more drive cycles to completely "burp" the system.