All you need is a jack and a couple of stands. Its as simple as changing a flat. I printed this pic out and check to see that I do it the same every 5000k when I change the oil. Only takes about an hour if your not in a rush.

 

If you do the 5 tire rotation it is very easy. You will only have 1 tire off at a time.

I take the time to thoroughly clean my rims. The gunk that gets built up on the inner side of the rim (I guess from the brake dust) I have noticed actually eats into the rim. The rims on my dodge ram are ruined on the inside from this. And even after cleaning every 6K I can see it pitting the rims on my jeep.

 

X2, I also do the 5 tire (no jack stands needed) and I clean the back sides of my wheels as well.

 

Is there a diagram that shows the rotation order for a five tire rotation?