What kind of jack are you using?

If you are using a floor jack, then you can lift the rear using the center of the rear axle. For the front, i usually try to use a flat spot on the front suspension to lift with (helps if your jack has a rubber pad on the saddle...). And I hope you have a pair of jack stands to make everything easier.

hupptoy

99 4Runner SR5 3.4 Auto 4x4, 32" LTX A/T, 154K
93 Toy x-cab 22RE 5-spd 4x4, 31" LTX A/T, 150K