No need to jack the truck up unless you need the extra space to work..
Undo the passenger side bolt and swing the bar out of the way. You may or may not need to loosen the other end. Install the bracket and hand tighten top bolt. Then, put the pandhard in the bracket and align the holes up. Put bolt through and tighten all bolts as necessary. Weld all around the top part of the drop bracket. I don't know if welding is necessary, but I think most do.