Now, to begin with your E39, remove the wheel cover.
It will reveal your lug nuts:
Alright, now for the front, break the lug nuts loose before you jack up the car. If you don't, it will be almost impossible for you to break a bolt loose once the tires are in the air and the car is on jack stands. I know, I've done it too.
To make this job a lot easier, you are going to open up the master brake cylinder. DO NOT get any debris in your brake fluid!!!!! The master cylinder on a E39 in a pain to get to. It is under the micro filter on the driver's side of the car. Not under the filter, under the whole black plastic case. It sucks and I didn't snap any pictures, so good luck with that. HOWEVER, in the E36, it's really easy. It's on the driver's side, near the firewall and is a fairly small white-ish plastic container. Open it up to relieve the pressure on the system, making your life much easier.