Loosen the bolts holding the caliper to the mounting bracket so it floats slightly. Squeeze the brakes(use a velcro strap or something if you need too). Tighten the bolts. Release the brakes. It should be centered. This only works if you have calipers that squeeze from both sides, which is most decent ones. If they only squeeze from one side it's tough to get them to always be even, and require more fiddling.
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