2005 Escape 4WD Jackstand Placement?

I have a 2005 Escape, 4WD XLT with V6.

I want to raise all 4 tires off the ground using a floor jack and then support it on 4 jackstands.

Anyone know where the proper placement of the floor jack should be and where the jackstands should support the vehicle.

I recall on the manual it says NOT to raise the vehicle on the centre diff.

Thanks.