The carpeting and digging mentioned below will also help. Attach the hooks to the frame or other special attachment points. Do not jerk the chain as vehicle frames can be bent. Rope is not recommended as it can spring back and harm people standing nearby. A blanket draped over the middle of the rope or chain during pull-out can minimize springback.
Chain has very minimal springback.
Wire rope has enough springback to take precautions. Fiber rope and nylon straps are very dangerous and shouldn't be used. Dig the excess sand out from the front of the wheels. Tamp the remaining sand down hard in front of the wheels. Lay chicken wire or carpeting just in front of the drive wheels.