Keep in mind that the levelling problem may have a serious underlying cause, from soil erosion to termite investations. Before you crawl under your house to investigate, have a professional structural engineer examine the source of the warping or sagging. Once you get the go-ahead to investigate on your own, crawl under the foundation with a spirit level to place on the foundation beams. That will help you determine the severity of the problem.
Repair the source of the problem first. A wood foundation is common to a block foundation structure. If this is your situation, it is important to avoid wood-to-ground contact to lessen moisture contact with the wood. It is also important to replace any wood you find rotted. Check the distance between the foundation piers as well, which should be about 6 feet. If it is more, sagging will likely occur. Finally, calculate if there is sufficient crawl space. A minimum of 18 inches is needed under floor joists but 2 feet is much better. Do not start to dig out the crawl space if it is insufficient because that could weaken the piers. Note the problem and call professionals.
Begin the leveling process once you have completed any essential foundation repairs. Mark the low spots in the foundation on the exterior of the house, and place the substantial floor jacks at these spots. Each jack needs an operator and all must move in coordinated fashion, slowly and cautiously until the house is level. At that point, build new piers out of blocks and insert them in the jacked-up spots. When the house is level, slowly lower the jacks. Again, have each jack manned and conduct all motions in unison. Measure again to ensure the house is level.