Try this, first take a siphon pump and pull the old oil out of the master to start with and install some fresh new fluid. Then, get a buddy to help and with the engine off, have that buddy to pump the brake pedal about 15-20 times to build up pressure, etc through the pedal and once he gets to that point have him hold it to the floor as tight as he can, while he is holding it there, open the bleeder on one caliper. You may want to hold an open top drain pan out behind the bleeder at an angle to catch the fluid that shoots out. Do this two or three times per caliper to ensure that you are getting new fluid all the way through to the caliper and once you are satisfied that there is no air coming out of that caliper (IE: you have a good strong stream of fluid out of the bleeder) move on to the next caliper. Do this for all of the calipers to ensure that you have properly bled the entire system. Once you are done with that, you should have plenty of pedal if you haven't blown a seal in the master cylinder. IF after doing the full flush in this manner, you still have a soft pedal, then you are probably due for a new master cylinder.
This process is about the best DIY way of getting it done without a machine and taking the ABS into account as well. Making sure to refill the fluid as needed so that it doesn't run dry. Also, while you are doing this, DO NOT leave the cap off, debris isn't the only issue, brake fluid absorbs moisture from the air very quickly, so you really don't want to leave the cap off of the reservoir at all, you also do not want to save brake fluid that has been opened. Once opened, brake fluid has an extremely short shelf life due to it's absorption of moisture.