If you just want to be able to get under the engine and clean, get some ramps and back it up onto them. Cheap, easy, and safe.
If you really want to go the jack and jack stands approach, it's been talked to death here on the forum, complete with pictures. Just use the search function.
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Jack
2000 Boxster S - gone -
2006 Audi A6 Quattro 3.2
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