You can use hydrostatic weighing, bioelectrical impedance or a skinfold.
Lets look at the skinfold test. I will use the 3 site formula.
So for men, you test at the chest(diaonal fold taken), abdomen(vertical fold) and the thigh(vertical fold)
BF%= 1.1093800 - .0008267(sum of Three skinfolds) + .0000016(sum of three skinfolds)squared) - .000257(age)
Womens formula is different, and there 3sites are the Triceps, abdomen, Suprailiac.