I would recommend a good quality rolling floor jack. I have one with a 22" lift height and that will really let you get the car way up in the air to make working underneath so much better.
Remember, at least 2 quality jack stands under the car after you jack it (lower the car on the stands) or don't go under there, not even for a second.
The front can be jacked all at once on the cross beams, might use some padding. The rear can be jacked all at once, as mentioned above, using a 2x4 to spread the load. Cut a 2x4 the right length and then wrap it with several layers of good duct tape. That way when the wood splits it won't come apart so much.
You'll hear of people jacking the rear under the engine case. Why risk fracturing it when there are better places to jack.
These cars are so low to the ground, if they fall on you, you won't get a second chance to correct your mistake. Safty first: buy top quality jacks and stands and use them wisely.
Have fun, Blake, 2010 VS.