Yeah, just follow the documentation in the link you posted.
My process is to take full backups of the site files and database then perform the upgrade locally. Do the first step in the upgrade path then run through the site to test, back end and front end, then run the next step in the upgrade, and so on. I suppose if you want to be extra careful you could take additional backups between each upgrade step but that's probably overkill.
When making the web.config changes, there is an option to have Project Manager merge them for you but I end up just using Beyond Compare to compare the _EmptyProject folder in the extracted Project Manger files to my local files and do the web.config changes through a file compare. It cuts down on the differences in files from upgrade to upgrade and shows you whats been changed. The _EmptyProject folder is essentially the vanilla Sitefinty site files for that version.
Once the site is fully upgraded locally, I just publish the site in Visual Studio, copy the files over to the live site and overwrite the live database with a backup of my locally upgraded database.
Hope that helps.