On November 28th, due to the increasing number of protests and collapse of other Warsaw Pact Governments, the Communist Party announced that it would dismantle its single party state. Two days later the sections of the Constitution that gave Communists a monopoly of power was deleted and on December 10th the president appointed the first largely noncommunist government, and resigned. Vaclav Havel was elected president on December 29, 1989 and on June 1990 Czechoslovakia held its first democratic election since 1946.
This was accomplished through power in numbers, not steel.
Sources:
https://tavaana.org/en/content/velvet-revolution-peaceful-end-communism-czechoslovakia-0
http://en.wikipedia.org/wiki/Velvet_Revolution#Pace_of_change
http://www.wisegeek.com/what-was-the-velvet-revolution.htm#didyouknowout