Mount the rack bases for the panels onto your roof by locating the rafters beneath the shingles with a stud finder then drilling pilot holes through the roofing and into the rafters.
Bolt the bases for the panel racks onto the roof. If you are using hex-head lag bolts, use a socket set with the appropriately-sized attachment. Take all necessary waterproofing steps to prevent leakage into the roof. These steps vary between manufacturers and roofing materials but usually include seating the rack base in roofing tar where the holes go through the shingles then covering each bolt head with more roofing tar once the base has been attached.
Connect the panel racks to the bases on the roof. Depending on the types of racks you're working with and the manufacturer, the methods of doing this will vary slightly, but they typically involve attaching the racks to their bases with nuts and bolts.
Mount the panels onto the racks. If you are using adjustable racks, position the panels at an angle appropriate for the season. Most homeowners working with movable panel racks move them to a flatter position in March and a more upright position in September to take maximum advantage of the winter and summer sun.
Run wiring conduit from the panels to the inverter and main service panel in your home. This may involve putting the conduit down through a hole in the roof and waterproofing the hole or running the conduit down the roof and around the fascia and soffit along the outside of the house. If you are not confident with your understanding of electrical work, consult with a professional or hire one to do this part for you.