I used to set-up a wooden dock that was mounted on pipe. I used 3 2X4's. One of them I cut in half and drilled a hole in the center of each piece. The other 2, I drilled holes 2 inches apart for almost the full length. I ran long carriage bolts through the back of the short pieces and used them as cross pieces.
This may not be as precise as the jacks above but it is pretty simple. Put the butt of the uprights, at an angle, into the bottom and the cross pieces under the deck edge. Push the uprights vertical and drop the pipes into place. You may need to make some adjustments but one of these units will hold the weight long enough to move from side-to-side. They will also take the weight while you drive or wash the pipes into place.
Good luck!
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