Well I have been locked out of my 2006 Liberty twice this past year, once my girlfriend was digging stuff out of the back seat (driving) and I got out in the passenger side and locked the doors using the switch before closing the door. She promptly closed her door as well but left the key on the back seat.

We called a tow truck and they came by with a slim jim and unlocked it promptly. I watched him do it for future reference.
The second time, it was all my fault, I started my Jeep, grabbed the snow scrapper out of the back seat and must have rubbed against the locking switch on the way out... Locked out again with the engine running. Let's just say I was none too happy, was a long day, snowing, cold and the vehicle was blocking access to the only other vehicle in the driveway so we couldn't even drive home to pick up the extra key.
However, this time, I knew how to pick the lock, but no slim jim. The only tools I had were the window scrapper and a wire clothes hanger. Basically, getting into a Jeep is very easy and you don't need to smash any windows to do it nor try to pry open the door from the top... Go in the passenger side door where the rubber meets the window at the bottom of the window. You'll need something to pry the hard - not very flexible - rubber away from the window sill and then insert the clothes hanger wire (bend it like an L shape) down near the door lock and keep fudging around in there in an Up and Down twisting motion until you hook on to the lock mechanism. It took me about 5-10 minutes of doing this with these tools and no prior hands on experience. No damage to the window or door either.
Cheers.