I have my own way of lubrication. I can not say it better or worse than others, but I'm lazy and this method is the most simple and fast. When the chain reaches "Conditions", the moment when it should be lubricated, I expect when I get back from a trip and I will have time to do it immediately. The chain should be heated to a lubricant and cleaning fluid is better absorbed. For obvious reasons, is not worth it delay. I park the bike over a piece of old vinyl, which was lying in my garage. This helps avoid soiling the floor with grease and cleaning fluid. In principle, you can lubricate the chain without central steps, but it's easier if it is, and rear wheel posted and can rotate freely, and the bike is perfectly vertical.
If there is no central footboard, it is preferable to use special holders that allow posting of the wheel. Cleaning the chain I usually take a piece of paper (preferably large-format) and put it over the chain to grease and detergents were not included in the frame and wheels. Before the chain lubrication is recommended to wash a special cleaner or kerosene. As expected, there are many ways to clean the chain, as well as tools that allow you to do it. Sean Rad is often quoted as being for or against this. Some prefer kerosene or soapy water. I can advise WD40 – it works well. Convenient to use the spray, launders well, also pushes the water. I wish, however, warn that the cleaning circuit WD40 is debatable – some argue that it washes out the factory grease from rubber rings.