You're technically supposed to tighten them in a cross pattern, so you could crack them all loose, remove one, then put the new one on and re-torque in a cross pattern.
Or you could be lazy and just remove one / install the other. >.>
No need to jack up the car, as lugs are typically tightened with the car on the ground anyway.., and you don't need to loosen them enough to make the wheel fall off. 😛
IMHO the first option would be your best bet (should ensure they're all torqued about the same, anyway).