I just replaced all 4 corners' rotors and pads (Centric products purchased from Amazon), lubricated the caliper pins (Sil-glyde picked up at Advanced Auto), and flushed the brake fluid (Valvoline DOT3/4 purchased at Advanced Auto) a couple weeks ago myself for ~$200. Add in a couple bottles of brake parts cleaner and it's around $210. My '10 Accord LX sedan has ~80,000 miles on it now and the steering wheel was shuddering heavily under braking.
I'd say I probably spent 4 hours working on it (labor rate around my area is ~$90/hr), so $470 for parts and labor seems like a pretty smokin' deal. I'd check to make sure they're actually going to do the job. Probably stand in the shop while they do the work.