Frame on the front, (that part that attaches all the stuff from the suspension to the rest of the vehicle) and the lower suspension on the rear with that little "tab" that sticks off it (pointing straight down).
Not difficult. The jacking instructions are pretty clear with the '01 and the points are the same.
You can save a little time by using the center rail on the front to jack it up in the middle and do both tires at once. In the back though the OEM jack is too short to lift both at once, you do have to use the arm on the suspension for each side. With a floor jack you can just put it under the rear differential.