If you do not have the LCD display module, these instructions won't be much help.
To pause and change filament, do the following:
1) Hit the X button (2nd row, 2nd from the right)
2) Choose pause at Z positon and set the height at which you would like to change filament
3) Use the "Rev" and "(Fwd)" keys (2nd row, 2nd from left and 2nd row, right most)
4) run out the old filament
5) run in the new filament and resume printing using the cancel key (2nd row, 2nd from right)