Proper floor jack point

Hey guys, what's the proper place to jack up a 73 Duster in the front and rear? I've been jacking it up under the K-member in the front and supporting it under the rectangular sections on each side behind the wheels but in front of the torsion bar support crossmember. I haven't had it up in the back yet. What's the best way to do that, I know the factory jacks used the bumpers, can I do that with a regular floor jack?