I have ususally been able to get most of the air out of the system by just turning the helm pumps back and forth a bunch of times. You need to check the fluid level while doing this and add to keep from pumping more air back in. If you have high spots in the lines you may need to crack some fittings loose to release air that can't get back to the pump. If possible fill the cylinders with fluid before you hook up the hoses. Hopefully someone else has an easier way, it can take a while to get all the air out if you have long runs or more than one helm station.
SV Laurie Anne
1988 Brewer 40 Pilothouse