yes there are jacking points, if you get down on hands n knees and look you'll see a bit along the sill edge with a couple of notches out of it , make sure you choc the opposite wheel on the other axle with either your choc (in your toyota kit) or a brick or something to stop risk of it rolling
and make sure the jack is on solid even ground
it is easy though, dont worry you'll soon get the hang of it
ps make sure you 'crack' (loosen) the nuts while the car is still on the ground and then when you put wheel back on after tighten them up after