when changing a single wheel I have always used the scissor jack that came with the car in one of the 4 jacking points next to the wheel
You only need to get it high enough off the ground to be able to spin the lifted wheel and it isn't dangerous as long as you don't need to be under the car, just ensure that you don't place your hands/knees underneath the wheel or underneath the hub at any time
If I'm doing all 4 I use a trolley jack with a rubber attachment, same jacking point in the sills, and only as high as needed, just speeds the job up. If I need to be under the car then trolley jack at the front or rear and axle stands pushed underneath the chassis rails