Under it sounds right. If you look at the top of your jack (scissor jack), and look under the side of your car, between the front and rear wheels, near the tire you want to jack up, there should be a notch that the top of your jack was made for. There's probably a label on the spare tire cover with detailed instructions.
The best place to jack is directly under the axles.
under the drivers seat.
Under the front passenger seat
Jacks or jackstands should be placed under the frame.
under seats
The jack is stored in the trunk, on the right hand side under the panel.
Place the jack under the differentials.
mine is a 93 model and its under the passenger seat
If a 1996 Toyota RAV4 is the same as the 1997, then it's under the front passenger seat. Cheers...
Under the inner edge of the lower 'a' arm.
Under the passenger middle row seat in a bag - probably under the jack.
A floor jack is the safest way to jack it up. Place the jack under the frame.