Yeah, going under a vehicle on a jack is a major no-no.

Even the best floor jacks have nothing more then a rubber piston o-ring holding the fluid pressure.

To get the most old oil out, drive the front wheels on ramps, pull plug, wait 1/2 hr, pour 1 qt new oil in (1/2 in filter housing, 1/2 in oil fill), let sit overnight. The new oil "pushes" the old oil out.

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'03 X5 4.4 Sport, last of the M62s (8-03 build date)
I believe in deadication to craftmanship in a world of mediocrity!