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I use a big, old floor jack. I jack up the rear end first using the jack point on the diff; jack stand support the rear. Then, from the side just behind a front wheel, I angle the big monster toward the front to jack using the jack point on the cross member. Jack stand the front and all is good. Reverse procedure to lower car.
I've had a QuickJack 3500 from the very first shipment sold for a few years and am very happy with it. Prior to that, I had two floor jacks. One was aluminum from Harbor Freight that I would take to the track. I did not use it much in the garage. For the garage, my 2.5" low profile Omega Magic Lift with a 42" body and 39" deep lifting pad reach was all I really used. It reaches the front and rear central lifting points without effort. So, to raise the car onto jack stands, you only needed to well set the parking brake, lift the front, "jack stand it", lift the rear and "jack stand it".
Of course, as Harry suggested, ALWAYS use jack stands. To crawl under a vehicle supported by a jack is to invite a crush injury or worse, death.... and yes, it happens way more often than people think.