New roof jacks in existing asphalt shingle roof

I want to put in roof jacks for a solar heating unit, but my asphalt shingle roof is a practically new dimensional shingle type roof, and I'm afraid I'll get a leak or make an unsightly mess. I've seen home builder shows make it look easy to remove a shingle or two, but I don't understand how they can be replaced, especially above the roof jack.
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Then hire an good roofer. Tom
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