I'm planning to replace my starter my self with a help of a friend on my 2004 530i . What precautions should we take ? Or if anyone has changed their starter how much did it cost ?

 

Don't buy no-name-brand starter even if it's a bargain. Buy Bosch (OEM) starter.
Use this opportunity to check and replace crankcase ventilation related parts/hoses. You will be removing the intake manifold, so, get a set of new intake manifold gaskets.

Bosch starter is around $130 (plus you will be paying for the core; you will get that back when you return the old starter).

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Remember to disconnect the battery negative cable before starting the work.