Basically you follow the signs to baggage claim and then look for the signs that say rental cars...I can't remember the specifics, but if you follow the signs you'll be fine. It's very easy, and a shuttle comes every few minutes.
This is from Orbitz concerning the Thrifty shuttle bus:
AIRPORT - COURTESY BUS PICKS UP AT THESE LOCATIONS...
LOWER END A 11-14 AND UPPER END A 32-35.
LOWER END B 11-14 AND UPPER END B 37-39.
COURTESY PHONE IS LOCATED IN BAGGAGE CLAIM.
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