Jacking up my rusty Yaris

[YarisIsLife]

Hey!
I'm very new to fixing cars (and completely new to the forum), but I'm determined to get it done. In short, I need to raise my Yaris' rear on jack stands to fix rust damage and to check the brake drums.

I tried to use the actual jacking point protrusion in the rear, but it only pushed itself in... I thought about using the other points (that I believe are used for towing), but one of those is uncomfortably connected (in my opinion) to the rusted (horizontal, rear-front axis) "beam" I must repair. Therefore, I fear that using that towing point to lift the car could result in serious damage.

I have searched online to the best of my ability for proven alternatives, but I have found nothing that makes me feel confident.

Do you have any ideas / sources / links? Please include reasoning :)

Thank you for any help you can give!