What worked for me for the past 5 years is first place the jack under the center front of the car (under a solid portion of the frame) and jack up the front end. Place two jack stands on both sides of the car. Lower the jack onto the jack stands. Then place the jack under the rear differential and jack up the rear of the car. Place two more jack stands on both sides of the car. Lower the jack onto the jacks stands.
You now have all four tires off the floor which makes it easy to rotate the tires.
Some safety pointers: make sure that the jack is rated to lift the entire weight of the car. Make sure that the jack is centered on the car. Never place your limbs under the car until it is lowered on the jack stands. Always work on a solid flat surface. I made the mistake once by lowering a car on jack stands which were placed on a blacktop driveway in the summer. The jack stands sunk into the blacktop a good inch.
1998 Mercedes E320, 200K Miles
2001 Acura 3.2TL, 178K Miles
1992 Chevy Astro, 205K Miles