The rear one goes on fairly easy. The hard part was drilling out the stock bushings (only the ones on the axle) to fit the new, thicker bar. It's 6 bolts: 4 on the axle and 2 to the end-links. Jacking the car up will actually make it harder as it will put stress on the bolts and make them harder to remove.
The front was a bit tougher, but still easy. There are some bolts on the frame crossmember to remove, and some connecting the bar to the control arms. The only hard part was that the bolts to the suspension are long, about 8" long and were removed from the top. To be able to remove them, we jacked the car up to change the suspension geometry to give us room. When we reinstalled these bolts, we did it upside down (from the bottom), so they can be easily removed when I go off-roading.
Good luck!