I have a little 2T bottle jack. It doesnt quite lift the rear wheels off in access mode, so needs a two stage lift.
If im only changing a tyre, i stick it under the control arm in normal or off road height. Jack it up an inch or so before you start, stick it under the arm (theres a little oval indent which i use, as it looks strong). Jack it up until the car self levels and viola! It lifts the wheel off the ground for you :)
You do have to be careful with jack placement, as when at off road height the control arm isnt flat, and it can shift, but its the only hard part.
Cheers
Dan

