To add to what MuddyOval said, getting access to the frame is important. This is of course dependent on being able to get some sort of jack under the vehicle. One of the locals who teaches recovery and does 4x4 recovery around here does what he calls the "jack and stack" method. He carries sheets of 3/4" plywood. First things first is to chock the vehicle so it can't roll. He then puts the jack (usually an airbag or a floor jack since most vehicles aren't properly set up for Hi-lifts) on a sheet of thick plywood to disperse the load then jacks the vehicle up, fills under the tires as best he can and puts the plywood down under the wheel before lowering the vehicle again. Now you can remove the chocks from in front of the direct you want to pull; leaving the chocks behind the vehicle will prevent it from rolling back if anything fails or you need to reposition equipment. The strips he uses are probably 2'x4' or so- basically cheap versions of sand ladders. If he needs to pull the vehicle over, he also has wider sheets of plywood that he can put under the tires that allow the vehicle to "slip" sideways for a straighter pulls. Getting the vehicle up allows him to rig to the frame like MuddyOval talked about. He preaches redundancy also.
Airbags aren't cheap and they require some training to use correctly i.e. cribbing, but are pretty easily deployed once you know how to. With so many off-roaders carrying air compressors/spare air tanks, it's easy to imagine folks carrying one or more. ARB makes what they call an exhaust jack that is getting good reviews.
http://www.arbusa.com/Products/Tow-Straps-And-Recovery-Gear/Exhaust-Jacks/46.aspx
The big thing is to slow down, take some good deep breaths, assess the situation and figure out not only what equipment you have available, but how you are going to use it and what can go wrong. Too often people don't think about how/where a vehicle is going to move once they break it free/lift it/etc. or what might fail. This can lead to worse stucks, (further) damage to the vehicle or equipment or injury/death to bystanders.
Disclaimer- I'm no recovery expert by any stretch of the imagination but I have taken a couple of rescue/extrication classes in my years as a paramedic. This is just one method that works sometimes- evaluate each situation individually.
Wow- a little thread drift there...