tenspeed

Use the floor jack on the front and the Audi jack on the rear. The floor jack will carry most of the load and the Audi jack will add enough to lift the rear wheel. Loosen all the lugs a half turn before lifting and do the final torque when the wheels are back on the ground.

S6NOVA

Jacking points were shown in an earlier post.

The S6 had recesses in the jacking pads to take a cylindrical jack head, I picked up the jacking pad adapter from Reverse Logic Limited (http://www.reverselogic.us/audi_jack_pad.html) and everything went smoothly with no damage to the pinch welds on the rocker panels. The floor jack even tends to align itself under the car as the jacking adapter rises up into the jacking point.

And no, I have no business association with Reverse Logic, I just like to have the right tools for the job.