Set your camera up to take HDR shots
Mount on tripod
use remote release or delay timer
AV mode
ISO 100
Set shooting mode to continuous (high speed)
For Canon:
Set bracketing for 2 stops under and 2 stops over. You are limited to 3 shots. Not to worry, this will be fine. If you need more there is a clunky way.
Nikon:
Set to one stop intervals and 5 shots. Nikon is limited to 1 stop but can handle 5 or 7 shots.

On many Canons you can save settings on C1, C2, or C3.