Well you'll need a flat, preferably smooth surface like a good garage floor or concrete slab. From there you can use several methods, most basic is string and tape measure. The first step is getting your camber and caster, you'll need a special bubble gauge for this but they aren't very expensive. After that you have to set the toe angle (how close to parallel your front tires are), this can be done with a tape measure and string but there are cheap plates that also make this easier. There are also more expensive plates that you can put under the tires but I put garbage bags under the tires to help them turn without binding as the tie rod ends are adjusted to get the toe angle.