Best way to do this that I have found is to lift the wheels up, start the car, tighten the adjusting screw with 1 hand while turning the steering shaft with my other hand. Stop tightening it when you see the wheels move at even the slightest movement of the steering shaft, and lock it down. If the box had much more than 50 k on it, you might as well rebuild it first.
Sent from my DROID RAZR using Tapatalk 2