I finally got serious about going through the owner's manual and checking out the underside of the car. After seeing the jacking points on the car, they look like they are shaped to fit an adapter of some type which goes on the jack. Is there an adapter that fits in the jacking points? I looked in the battery/tool compartment and didn't see anything, so my guess is that if there are jack adapters, it's something I need to pick up. Thanks!

I've never seen one. Just stick the jack under there and jack it up.