Just unbolt the bolts and bolt them back. There's not really any stress on these bolts so I wouldn't worry about jacking it up.
The rear upper bar goes between the rear strut towers. You'll have to cut a hole in your carpet to do this one.
As far as pivot points go, read
http://www.hondastyle.com/forums/sho...&threadid=2524
Dezoris does a great job of explaining that topic.