The first time I needed to replace the front disc brakes was at 90,000 miles. This is a long time for disc brakes. I believe they lasted so long because much of the braking is regenerative, so the friction brakes don't see as much use as a non-hybrid car.

I replaced these brakes myself. Here is a detailed, step-by-step record of how I did it, including instructional photos: brake_pad_replacement_procedure.pdf.