how to properly torque axel\hub nut?

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i replaced the hub bearing on my 2001 chrysler town and country and when trying to take it for a test drive, the car wouldnt move in drive or reverse with the foot off the gas. i loosened the axle/hub bearing nut and it seems to run ok now, but i torqued the axle nut while the car was on a jack stand without the wheel on. does the car need to be off any stands and fully rested on the ground to properly torque the hub bearing nut?