The easy way to do it is to make some drive on mini ramps out of one or two 2x4s depending on how much height you need to gain. If 1-1/2" lift is enough, put a 2' piece of 2x4 in front of each tire and drive on. IF you need more lift, use two 2x4s (a 36" and a 18") nailed together.
Or you may be able to buy a low profile floor jack that will clear the underside.