I don't like clamping the lug into a vise to solder as the vise is a huge heat sink. If the cable isn't heated properly (or at all in most cases) you can end up with a cold solder joint - it holds together but has high resistance. I saw one once that showed O/L on the ohm meter between the lug and the wire only a half inch away.
Personally, I like to crimp the connection, then clamp the wire in the vice (carefully) and heat the lug. Once it is hot enough, touch the solder to the wire where it enters the lug. The solder will melt and wick into the lug. When it is full you will see it form a bead at the joint. Once it cools, put on heat shrink tubing. Good connection and corrosion resistance.