The decision is mostly a matter of taste. In the case of a sequence of human actions, procedure is often used. If there are any reasons why one is chosen over the other, it is probably because of custom in a specific situation.
If it something that is written down, as a list of steps, then "procedure" is fine.
Although there is considerable overlap between "procedure" and "process" and in many cases you can use either word, it is sometimes convenient to think of a procedure as being a set of instructions and a process as being a sequence of actions.