In addition to what everyone suggest above...i highly suggest picking up one of these. This is one of those tools that i never thought i would need but after picked this up its actually one of my most used items especially for changing wheels.
http://www.amazon.com/Bosch-PS41-2A-...+impact+driver
Then pick this up
http://www.amazon.com/SE-7503SD-3-Pi...bxgy_469_img_y
And you'll need this 6 point socket set
http://www.amazon.com/TEKTON-4883-2-...int+socket+set
I have this combo with a 17MM socket always attached to it to help speed my wheel changes. I have it down to a science now that i've changed wheels more times than I'd like to admit throughout the years.....
Loosen bolts slightly with a breaker bar
Jack up the car
Use the Impact setup listed above to remove the lugs
Remove wheel
Reinstall wheel
Use Impact setup to slowly insert the lugs. (slow at first to make sure the threads catch then zip it in. The torque on this is low so there is no chance of you stripping it)
Tighten the lugs more with the torque wrench
Lower the car
Tighten the lugs to spec one final time
Alan