If you require full clearance for both front and rear, consider that a set of vehicle lift ramps will work well and provide appropriate safety for a bit of extra work.
As Solar Mike suggests, use a solid surface, paved, flat and level. If you can't get paved, flat and level, use a professional.
Drive the vehicle onto the lift ramps. The front wheels are the best choice for the ramps, as there is usually better body clearance ahead of the front wheels than behind the rears. Ramps usually have a lip to drive over at the top of the ramp and another lip to reduce (not prevent) you from driving off the ramps.
Secure the vehicle with the hand brake.
Use a suitable jack and elevate each rear wheel until the jack stand will fit. It may be necessary to lift the rear wheel only to the minimum height, move to the other rear wheel and increase the height a bit more, then place the jack stand and return to the first point. This will be dependent on the flexibility of your suspension. I had an older vehicle which would lift the front wheel when jacking the rear too high. This is to be avoided, as it places undue lateral forces on the ramp.