Check out the following threads. I've linked to the relevant post in each thread that gives the relevant details.
1. This one has photos and instructions: https://www.audiworld.com/forums/a8-.../#post25578377
2. This one just has some useful tips, especially tip #1: https://www.audiworld.com/forums/a8-.../#post25552188
3. Same thread as number two above, but this one just has pictures: https://www.audiworld.com/forums/a8-.../#post24768357
4. Finally, another one with just some instructions: https://www.audiworld.com/forums/a8-.../#post24184483
NOTE: Reading through these threads and a few others, it seems that they mostly fail due to worn out carbon brushes.
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2001 A8 D2 FL 3.7 Q - LPG Conversion, Engine: AKC, Gearbox:FBB, Colour:LY5X Aqua Blue pearl effect, Interior:WJ light beige/dark beige valcona leather with burr walnut inserts
My DIY jobs - Replaced alarm horn, Replaced Coolant Temp sensor, Updated RNS-D firmware, Installed Reversing Camera and Digital TV, Dashcam Installation, Retrofitted Rear Blinds, Auto-Dimming Rear View Mirror, Chrome Boot Struts
Sold!  2008 S8 D3 5.2 V10 - Engine: BSM, Gearbox:KLW, Colour:LY7F Suzuka Grey Pearl Effect, Interior:Black/Black with Silver/Black valcona leather with carbon atlas inserts, Bang & Olufsen, Heated windscreen, Soft-close doors, TV, DAB, AMI, Quad Zone, Auto Boot, Auto dim Mirrors, Keyless entry, PDC with rearview camera, AFS II Headlights
My DIY jobs - Fan Jet Windscreen Washers, Retrofitted Electric Side Blinds
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