Well my s3 has no servo but it should be the same, push down on the brake gently while just loosening the outlet pipe/s you should get a few bubbles out then tighten back up and hopefully hey presto! just the same as bleeding the cylinders.
I put all new cylinders and shoes front and rear and a new master cylinder
but it was the same had to pump the pedal a couple of time to get good brakes, my friend said have you bled the master cylinder out? "eer umm err no", two minuets later perfect brakes!