How to center DIV within a DIV?

I have a footer which I am currently building.

I want to be able to center the 4 divs in the footer (like first paragraph or the 5 icons (which have failed to render)). What is the best way to do this?

Demo: http://jsfiddle.net/8q5ek/3/

CSS:

#insidefooter, #disclaimer {
max-width: 960px;
min-width: 960px;
margin-left: 25%;
margin-right: auto;
}
#footer {
color: #C9C9C9;
min-width: 1500px;
background-color: #2d2d2d;
list-style: none;
height: 450px;
background-image:url(http://i.imgur.com/yb7j6PD.png);
background-repeat:repeat;
}
#insidefooter {
margin-top: 20px;
text-align: center;
}
/*settings for social media buttons*/
 #insidefootertermsplusbuttons li {
display: inline;
color: #C9C9C9;
}
#insidefooterone1 h5, #insidefootertwo1 h5, #insidefooterthree1 h5, #insidefooterfour1    h5 {
text-align:left;
margin-bottom: 0;
padding-bottom: 0;
color:#FFFFFF;
padding-left: 0px;
}
#insidefooterone1 li, #insidefootertwo1 li, #insidefooterthree1 li, #insidefooterfour1 li {
list-style: none;
text-align: left;
margin-left: 0;
color: #C9C9C9;
padding: 0;
}
#insidefooterone1 ul, #insidefootertwo1 ul, #insidefooterthree1 ul, #insidefooterfour1 ul {
list-style: none;
text-align: left;
padding-left: 0px;
padding-right: 0;
color: #C9C9C9;
overflow: hidden;
}
#disclaimer {
margin-top: 20px;
font-size: 9px;
text-align: center;
margin-bottom: 0;
}
#disclaimer p {
text-align:center;
color: #C9C9C9;
}
.ul_links {
overflow: auto;
display: inline-block;
min-width: 700px;
}

I solved your problem. So I played around with your code a lot, did many changes, here is the result:

http://jsfiddle.net/rYjS9/7/

The actual trick was using display: inline-block; and margin-left: auto; margin-right: auto; and a couple of other stuff I have changed, as you can see from the jsfiddle. ;)

Regards