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I've had to do this many many times on Mercedes. One circumstance was to send a set of wheels in to have them repaired (for scraped up rims on used cars for example).
I always did this: Lift up on one front corner, then the other front, you will see a section or frame just inboard from the jacking pads (round hockey-puck looking things). You can set the floor jack on the jacking pads then. After getting the front up in the air, then jack the rear by the center differential, and again set the jack stands on the rear jacking pads.
Just make sure you get jack stands with very large bases, to avoid any rocking.
When you are raising the rear it's important that the lift (hydraulic jack or floor jack)is able to roll.
Gilly
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