Can someone explain to me how to properly jack up my car for repairs (not to change a tire).

1) Where to jack up the car using a hydraulic floor jack.

2) Where to place axle stands.

The service manual shows a "jacking-up shoe", which has a rod that sides into the support tubes on the side of the car and a platform to jack up. Problem is that they are about $137 each from the dealer.

Thanks,

Steve