Do you have a hydraulic floor jack? That makes things easier.
I usually jack the front by placing the jack's pad under the "beefy" part of the car body just behind the wheel well on the side I want to raise. It is a flat spot with two holes in it and a line between the holes - pretty easy to find. I center the jack on the line, and I've never had a problem. On the rear, a good floor jack should be able to raise both sides at once under the center of the axle beam.
I know there are "jack points" closer to the outside of the car along the bottom of the rocker panels, but those will bend if used multiple times and are designed for the scissors jack that comes with the car. I just use a floor jack in the garage - I don't trust the scissors jack, unless its an emergency situation.
No matter how you do this, you must "break" the lug nuts loose before lifting the car and re-install them "firm but not torqued" with the car in the air. You do NOT want to be applying full torque to the lug nuts with the wheel off the ground. Go around and break them all loose to start, then torque them all down at the end.