The minimum recommended height is about 5-6 meters so you have enough pressure in the pipes below, though if you have two stories or need more pressure, 8-10 meters is safer. That'll give you between 0.5 and 1 kg/cm² of pressure, which is normal for a house. If you're going to install the tank on an elevated structure, make sure the base is properly leveled and the structure (whether it's concrete, steel, or whatever you use) can handle the full weight of the tank plus a safety margin.
About the municipal permit, that really depends on your town hall. In a lot of small towns there's no strict control, but the right thing to do is check first with the local government, because some require a technical plan or at least notification. If your house is in a remote rural area you'll probably get no hassle, but if it's closer to the urban center it's better not to risk it. Plus, if you ever sell the property, having everything properly documented saves you headaches.
As for the actual installation, you'll need a well or cistern in the ground so a pump can push water up to the elevated tank, then pipes running down to the house with a float valve in the tank so it fills automatically. It's basic but it's important to seal all the connections properly to avoid leaks and contamination, and insulate the tank from the sun so the water doesn't get too hot. If you don't have plumbing experience, better call someone who knows what they're doing.