Before you adjust anything determine where the problem is. Many time loose steering can be traced to worn rag joints,loose suspension parts. If they are good then the box may need attention- most do.
Trying to do this on the car is not advised but you can get close. There are some that follow the old in-car procedures using a fish scale, there were also some that followed Custer in the Little-BigHorn.
If you over-adjust the box it will be tighter and also wear out the center tooth and wreck the gears.
With the box on center, wheel @ 6 o'clock, tires straight, loosen the lash nut and slowly bring in the screw until you feel resistance, this may only be a 1/4 turn. Leave it there, do not tighten more. If you are not on center doing this you will not correctly adjust it. This only sets the lash not the bearing preload.
The best way is to remove it and pop the cover, Clean out all the old grease, add new grease, cover gasket and set your preload and lash. Many do it this way. Myself, I recommend going the full way and rebuilding the box once you get it out. Chances are the bearings are original, the lash gap is over 007",and the sideplay is up to or over 010".
Good luck. I have a thread on this online to help as well.