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I jack up under the doors. Jackstands just before the frame kicks up behind the front wheels. I walk it up. A bit on each side. Small floor jack just behind the jack stand. Going back and forth side to side until I'm happy with the height.
I never, never jack on the front crossmember. It's just to thin. I don't care what people pad the jack with. I don't jack there. I take my time one side at a time.
The factory recommended jack points are on the side frame rails just where 4Vettes stated above.
I used these points and never had any issues.
I bought a second floor jack which made the task faster and easier, but if you only have one jack, do as 4 Vettes said and go a little at a time from side to side.
Same thing to jack the rear.
As the members said..THE RIGHT WAY IS THE BEST WAY. Put a anti-roll block behind each rear wheel.
When I'm in a hurry I cheat and place a 6" X 6" X 2" thick board on the pedestal of a 2 ton floor jack centered slightly to the passenger side of the crossmember for balance.
Once I lift the front of the car enough I place the jack stans in their correct postions and slowly lower the car onto the stands.
I read somewhere that someone took piece of 1"x6"? and added tapered pieces of wood to both sides of the 1"x6" to match the contour of the cross member. That way you could jack right on the cross member with one jack.