You can do it yourself on a level garage floor with 4 jackstands, small strings and a tape measure (or digital caliper if you're really anal). First time WILL take you 2 hours, but after that you can do it in less than 1. Setup time included.
Procedure, you can also google: diy string alignment, there's a few methods out there.
http://www.hotrod.com/techarticles/chassis/hrdp_0411_wheel_alignment_guide/viewall.html
http://www.elantragtclub.com/id554.html
I always do mine with the wheels on, the car in the 1st article has setup wheels, it just takes a little longer with the real wheels. Remember to set the tire pressures right.
Before you start you have to set the camber angles, again, a digital or mechanical level will do
Pro race teams do it like this:
ALMS GT BMW:
Turner Grand Am BMW: