I am not sure on the 2002 E320. On my 1992 there is a cut out under the engine spash shield that is open for the cross member. You may have the same on your car. If so slide a low profile jack with a block of wood under the cross member and jack up the front till the tires and wheels are clear of the pavment. DONOT for get to put the car in park and block the rear wheels.
Once you have the front raised position jack stands under the jacking points on each side again I recomment a small wood block.
Once you have the front secure lift the rear at the differental with a block of wood under the floor jack. Again position jack stands at the lifting points at each side of the car right and left with a block of wood. The rear suspension my hang down alittle not to worry.

One important aspect I almost left out. Use a lug wrench bar to loosen the lug nuts just enough so when you have the car raised it will not take any efford to remove them. To tighten them leave the car raised have someone sit in the drivers seat and press on the brake and torque lug nut criss cross pattern to specification.

Bob Geco