Going out one chord will not change the key. If you go out long enough to change the tonal center, then you have changed keys. Just going out one or two notes or chords normally will not change the key. Add interest yes, change keys no. It's when you go out and stay out long enough for the tonal center to shift then that's when you have changed keys.
Substituting
a like minor chord for a major chord (Cm for C) is done quite often. C is made of the C-E-G notes. Cm is made of the C-Eb-G notes. Normally if the substituted chord has two like notes you can substitute those two chords and not run into any harmonization problems.
Parallel minor chords are explained on this site:
http://www.angelfire.com/fl4/moneych...titutions.html In this example the Am or Em could be substituted for the C chord. C is made of the C-E-G notes. Am is made of the A-C-E notes and Em has the E-G-B notes. Notice you have two like notes in all those chords.
Little more detail.
http://www.piano-play-it.com/chord-substitution.html