Use a Visqueen type plastic and a staple gun to hang the plastic from the base board or floor joist around the perimeter of the crawl space. If there is gravel in the crawl space, you may need to remove it and replace it after the plastic is installed.
I would generally start with a harder material packing, make it about one and three eighths inch thick, follow that up with one inch of low density fiberglass to allow air pockets to help hold the heat in, then follow that up with a denser fiberglass of about 2 and three quarters inch
The plastic in the crawl space is a vapor barrier. It traps ground moisture from evaporting into the crawl space thereby keeping it dryer. It is required by current building codes. The lower moisture content reduces humidity and makes the wood less appealing to some insects as well as reducing humidity inside the house and its potential mold problems.
Use a 6 mil or thicker poly. Fasten the edge of the poly to the sill plate with lath strips. Be careful not to puncture the poly and tape all seams or holes with a good grade of appropriate tape, as the poly must not have any punctures