I have a '02 Honda CRV, just passed 85k miles.
Probably going to replace the spark plugs as well. Let me know how it goes.
I wouldn't be afraid of this job, well worth saving $100 to do it ( but I'll pay $40, as working on cars is frowned upon where I live).
It is supposed to be done at 100k miles, so you have awhile.
Are your brakes original ? I'm surprised to get 100k out of brakes.
Here's a real ripoff to watch out for on this car. Replacement of air filter and cabin air filter. Honda will charge you well over $100 for this ( maybe $150). Parts are maybe $30-40 ( at a parts store). Once you do it once, you can do both filters in under 10 minutes, so they charge you about $600/ hour labor to change simple filters. Cabin air filter gets nasty so change that maybe every 20k miles ( I just bought one for $15). There are instructional videos at that CRV forum or on Youtube. It's a little tricky until you do it once, thus watch the videos or read the (excellent) instructions online.
The engine air filter is super easy to change, I suggest a big long flat head screwdriver to help pop off the 5-6 clamps holding the casing together. I could do that one in under 2 minutes.
I use the reuseable K&N air filter, costs more, but works better. You clean it, let it dry, oil it up, and re-use it forever. It can last a million miles, but of course you're washing the thing every 15k or so miles....save the old paper filter to pop in, while the K&N dries naturally.
http://www.knfilters.com/
quality product, pretty green too.
get it from the start, best if you keep cars long term.