What he said ....
or in service manual verbage ...
1) Fill the pump fluid reservoir to the proper level
and let the fluid settle for at least two minutes.
(2) Raise the front wheels off the ground.
(3) Slowly turn the steering wheel right and left,
lightly contacting the wheel stops at least 20 times.
(4) Check the fluid level add if necessary.
(5) Lower the vehicle, start the engine and turn
the steering wheel slowly from lock to lock.
(6) Stop the engine and check the fluid level and
refill as required.
CAUTION: Do not run a vehicle with foamy fluid for
an extended period. This may cause pump damage.
(7) If the fluid is extremely foamy or milky looking,
allow the vehicle to stand a few minutes and
repeat the procedure.
(8) Add fluid if necessary. Repeat the above procedure
until the fluid level remains constant after running
the engine.