Here is a rough outline of how to do it. The most important thing is to make sure you have the car secured at all times so it can't roll or fall on you or the ground. Aso, start each nut by hand to make sure it is not cross threaded before using a wrench.
1. Get a decent lug wrench, a hydraulic floor jack,
wheel chocks, jack stands, a torque wrench, extension, and socket to fit. This job will be difficult and dangerous if you try to use the Hyundai-supplied tools.
2. Park on a level, paved surface. Do not attempt this on a slope!
3. Set emergency brake and ensure car is in park. Chock wheels on the opposite corner from where you are working.
4. Loosen the lug nuts 1/4 - 1/2 turn or so on one
wheel before jacking.
5. Using the jack points specified, jack that corner of the car up till the tire leaves the ground. Support the lift with a jack stand.
6. Remove the nuts the rest of the way, keep them.
7. Slide the
wheel off of the lugs.
8. Lift new
wheel into place and slide it on. Put on lug nuts as far as possible with the
wheel in the air.
9. Remove jack stand and lower jack until the tire is in firm contact with the ground.
10. Torque the lug nuts to what is specified in your manual. Tighten them in a circular pattern skipping over a lug each time till all are tight (1-3-5-2-4).
11. Remove jack. Check again that all lugs are tight!
Repeat 3 more times.