Some people do a chemical flush, which I think is a bad idea. When you say "flush" I hope you mean a complete exchange of fluid. I always think this is a good idea. The only down side is that a complete fluid exchange is more trouble than a drop-the-pan fluid change, and may be more expensive if done at a shop. But it makes for a superior fluid change.
As far as tapping into the cooler lines, if you do it yourself, disconnect one line, tickle the ignition to determine fluid flow, then add a length of hose to direct the flow into a receptacle. Much of the time this is the only hard part to this procedure, since you have to cobble something up that'll work. The rest is straightforward.