I'm going to assume that you have somehow got easy access to the underside of the car. It might be able to do this without lifting... I'm not sure.
I suppose the first question must be why you would want to do this... In my case a local fitment centre tried to jack the car and the jack operator didn't properly check that he would clear the sills. There damage wasn't critical, but still it needed to be rectified.
This event has made me trust my own judgement and ability more again. Logic and observation sometimes beats "professionalism".
Some sites that I've seen say that you need to remove the rear wheel... this probably will make it easier, but it isn't necessary. I didn't have torque wrench so torquing the wheel nuts after would have been an issue.