Don't drive it that way. Was the vehicle worked on recently? They may have been missed when work was done. Also, someone may have tried stealing them. Additionally, if they weren't properly torqued, they can come loose.
As far as tightening them, you will need to lift the wheel and tighten all lugs as tight as you can off the ground. Once the excess play is removed between the wheel and the hub, slightly lower the vehicle so the tire touches the ground enough to provide resistance when you tighten the wheel.
When torquing the wheel, follow a star pattern (see pic 1) and tighten them to 135 foot-pounds (pic 2)
Let me know if this helps or if you have other questions.
See pics below.
Images (Click to make bigger)
Thursday, October 13th, 2022 AT 9:24 PM