i've alway blead it with the car off, get someone in the car, get them to push on the brakes, and you open the valve. when he gets to the firewall close the valve, then he lifts off the brake. Rince and repeat, till there is no air.
order to do it is LR, RR, LF, RF, ABS R, ABS F. If all of that makes sence. And don't forget to keep topping the master cylinder up.