I've never done it, but I would do it myself if I needed it done.

You will definitely need to get beneath the car. The bolts will most likely be rusted solid, so start putting penetrating oil on them a day or two before you do the job. Even then, you may end up twisting the bolts in two to get them off. 6-point sockets or closed-end wrenches are best for putting maximum torque on really rusty bolts.

There are inexpensive ways to raise a car. I prefer my plastic ramps, but metal jackstands are inexpensive, or you can visit a construction site dumpster and salvage enough scraps of 6" to 10" wide boards to make ramps to get you up 6" or so. I have been known to drive two wheels up on a curb in a pinch. Of course you know to never put so much as your toes under a car that is supported only by the car jack.