Also, how bad is this for the jeep? I want to take it wheeling tomorrow, but if I need to let it sit I will.

 

You'll need some repair parts...I'll send ya a PM.

 

Post a picture of the end of the long arms, not the axle end, the other end.

If it's Rubicon Express you can lube and fix them without any parts - without even taking them apart.

They get dry and loose.

 

Sorry for the mud. I can get better pictures if needed.

 

TRUTH!!
If the races are not worn out the joints can be tightened up and regreased easily enough....But you'll still have to drop the arms to do it.

 

Do I have to put it up on a jack to do this? Is there a certain brand of grease? What tools will I need?

 

Looks like a RE.
One at a time remove the arm. That end you'll see a collar with notches. Remove the locking set screw and use a punch to turn the collar off. If the ball isn't broken and the bushing is still OK, grease it up good and reassemble.
There should be a Zerk fitting on it to lube in the future. But they don't get the lube where is needs to be.
Remove the Zerk, take a drill bit the size of the hole and BY HAND drill through the nylon bushing till it hits the ball. Now it will work properly.
Tighten the collar tight, tighten the set screw - next time it's easy - just shoot grease in the zerks whenever you lube everything else.

 

Wheel bearing grease.