Jacking up the car can be scary the first time. And even worse after a bad experience.
Following are pictures of jacking points/jack placement that works for me without causing major dents:
Front of the car:
(I normally jack up at the spot where the jack stand is and place the jack stand at the x, similar to the placement in the front of the car.)
You can use the jacking points recommended in the car manual(see pic below) but without proper padding you can put small dents in metal after a couple of lifts :(