Couple ways it can be done. My first light was attached by velcro to the handguard, but I found that heat from the vents of the vehicle made the adhesive let loose. The way I am currently using is a piece of cut rubber from an old bike tire tube. I worked it over the handguards and slipped the switch under them. There is enough pressure to hold it tight, and the tube is thin enough that the pressure pad switch still feels the slightest touch to turn on. Bike tubes work well for lots of stuff. I use them on my handgun grip as well. Cheaper and flatter than the Hogue or Uncle Mike's grips.... And they last just as long!
As to where to mount it, I don't know what kind of rail you have. Where you mount it is largely user preference. I like mine mounted between 9-11 o'clock on the left side. Right, left, bottom, top in front of the front sight, it's all different for different people. My preference was I didn't like it on the bottom of the handguard, as I use that to rest the rifle, grip the rifle, part of my sling mount is there, and a bipod if I use it. Nothing other than lights are mounted on my sides. Mount it in such a way that it does not illuminate the front sight housing, but when you turn it on it makes your front sight stand out clearly. This usually means mounting it more forward on the rail than towards the receiver.