Hold down the MODE and Metering Mode buttons on top simultaneously and select Continuous Shooting. This way, you'll be able to take all bracketed exposures with a single press of the cable release or shutter button.
Use EOS Viewer Utility software to set Personal Function 8 (Number of shots to be bracketed) to 5 shots. Then hold down the MODE and AF DRIVE buttons simultaneously. Turn the dials so you have 5 exposures at -4, -2, 0, +2 and +4.