best way is to kinda feel it. spin the wheel as your tightening it up, but do it slowly. you should feel the bearing start to nip up and slow the wheel down. back it off a tad.
if the bearing is cold (you havnt driven the car much or at all before tightening) then make sure you have a very small amount of play in the wheel when you hold the top and bottom of it and try and rock it (make sure wheelnuts are tight when you try this).
the small amount of play is there to alloys for expansion of the bearing when everything heats up, if its too tight you get excesive heat and bearing wear/damage).
if you are still a bit unsure get it as best you can and then take it to a decent garage, they should have a feel for what its meant to be like, its hard to explain with just words!