Turn the wheels hard left to get to the ball joint on the driver’s side. It is a sort of conical structure that the wheel pivots on. The rubber boot should be plainly visible.

The trick, after puncturing it, is to keep the hole open while you slowly spray the lubricant in. If you simply insert the straw and spray, the aerosol propellant will immediately fill what little space is in the boot and forcefully blow most of the lubricant back out at you.

So I suggest using a pick tool to hold the punctured hole open; position the straw just outside of the hole; and then gently depress the plunger so a fine mist of lubricant sprays in. A flashlight is probably necessary so you will either need a third hand, or hold a small flashlight in your mouth cigar-style.

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2008 E350 4matic / Black/Anthracite

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Gone but not Forgotten:
2001 E430 4matic, 206,xxx miles, Black/Charcoal
1995 E320, 252,xxx miles, Black/Grey
1989 260E, 223,00 miles, Black/Black