Doing it legally varies from car to car. The most common method is to have a tube with a floor plate projecting down fron the lower door bar, pressed against the floor. Some cars are nice enough to have drain plugs you can utilize if you want to register the jack.

And creative thinking can come up with lots of other methods.
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What makes this legal? Is it because it's not welded to the floor? Seems like it would count as an extra attachment point, but I guess that gets into the "if it's touching" argument mentioned.

I'll be sending in my letter of support. It's too late for my car, though. I don't think there's anything left of the rocker seams.

David