A small trolley jack works very well. 2 ton is sufficient, but make sure you have sufficient lift. There is a jacking point under the engine in the centre that you need to be able to reach. If the jack reaches that far, it should work fine. If you will use the same jack on a lower vehicle with less clearance, ensure that it fits underneath. Cheaper jacks either don't go low enough, or don't lift high enough, in my experience.

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2007 X3 3.0si, 6 MT, Premium, White

Retired:
2008 535i, 6 MT, M Sport, Premium, Space Grey
2003 X5 3.0 Steptronic, Premium, Titanium Silver
2002 325xi 5 MT, Steel Grey
2004 Z4 3.0 Premium, Sport, SMG, Maldives Blue