We present in this paper the general framework of a method which permits to restore the rotational and particle number symmetries of wave functions obtained in Skyrme HF + BCS calculations. This restoration is nothing but a projection of mean-field intrinsic wave functions onto good particle number and good angular momentum. The method allows us also to mix projected wave functions. Such a configuration mixing is discussed for sets of HF + BCS intrinsic states generated in constrained calculations with suitable collective variables. This procedure gives collective states which are eigenstates of the particle number and the angular momentum operators and between which transition probabilities are calculated. An application to 24 Mg is presented, with mean-field wave functions generated by axial quadrupole constraints. Theoretical spectra and transition probabilities are compared to the experiment.