the rear wheel bearings are crap from kia. get Timkin replacements. any industrial bearing supplier can order you a set. trust me, well worth the upgrade.
dont forget to pick up new outer races!
as for doing it... please search the forums before you post.
this link may be for drums, but they do contain the bearings
http://www.kia-forums.com/1g-2g-2001...tml#post156210
bearings fail from one of 3 reasons :
* Vibration
* Loss of Lubrication (too much lube prevents heat dissipation)
* Over Torqued (or under torqued if they need to have a 'preload' torque, which most front wheel bearings require)