Burping is nothing more than making sure that there are no air pockets in your coolant system.
I just did my coolant as well, and was nervous about doing it because of some of the stories about it.
Fill the radiator, put the cap on, sit on the bike and lean it side to side - slowly. Try to keep it leaned over as long as possible to allow the air in the system to work it's way to the top (at the cap). Have someone help by steadying via the grab bar if you need to.
Lean it back and forth a few times, then put it on the kickstand, and take off the cap. You should now be able to get more coolant mixture in it. Do this until there is no more room in the radiator after you remove the cap.
Then start the bike and let it run until the fan kicks on. Let it cool off (overnight), and take the cap off again. If it's still full, you are good to go. If not, just keep repeating the process.
Good luck! (it really isn't that hard, just time consuming)