I did the same thing on my 04 TJ. I went to Autozone and got a Heli-coil kit ($30 bucks). I believe it is for and M8 size bolt (take a bolt with you). You'll have to get a drill as well (I think its 21/64, but, I am going on memory). You have to drill out each stripped bolt hole using the new drill to remove the old threads. You then use the oversize tap provided with the Heli-coil kit to re-tap each newly drilled out hole. Take your time re-tapping the holes to make sure you tap them straight. You then use the t-handle tool in the kit to "thread" a helicoil insert in to each newly tapped hole. Using the same t-handle tool, you break off the little "fin" at the bottom of the helicoil. This creates a new thread in the hole.
There should be instructions in the kit as well.