98CoupeV6's method is good because you can do all the work without having to constantly raise and lower the car. Another method, if you're like me and have 2 jacks and only 1 pair of jackstands would be to simply lift one side only. First raise either the front end or rear end on the left or right side using the reinforced jack point. Then raise the other end of the same side.

One thing I'd like to add to make things easier is to break the lug nuts loose while the car's tires are still on the ground. It's common knowledge but I thought I'd add it just in case someone's taking their wheels off for the first time.

Having hydraulic jacks also makes life a whole lot easier. I used to use the emergency jack but it takes a while to crank up and down and it really isn't meant for repeated use. You can get 15" lift height hydraulic jacks from Walmart or other places for like $15 anyway. Just make sure to never get under a car unless it's supported by jackstands.