I need to do this on my recently purchased 97 C280.

The lower ball joints are actually easier to change on these cars than many as they have 2 tapered studs rather than one stud and a press fit body.

I haven't looked closely enough but the rotors might be able to stay on. If not, now would be a good time to relube the wheel bearings.

You will need to support the lower control arm with a floor jack as sometimes jacking from the lower control arm puts the suspension in a better angle. ( especially if the shock is removed as this keeps the spring from fully extending.) Also it sometimes helps to turn the steering wheel to extend the tire rod as this gives you a the ability to pull the hub away from the center of the car.