If putting the driver side on first, put the bolt through on one end.
Using a floor jack, place it under the passenger side axle (opposite side you're working on). Slowly raise the passenger side axle up a few pumps at a time and check the alignment of the control arm bolt hole.
Once the bolt hole is close to being lined up, use a 3/8 drift punch or socket extension to line it up the rest of the way to get the control arm bolt through.