You can do it with the tires on the ground or off. I've done it both ways but prefer to do it with the tires off the ground. Find a spot on the tires that's easy to identify, I like using the small mold line that's on most tires, or a spot on the tread, and like was said above measure the distance between this spot on both the front and back of the tires. Loosen the small clamps at each end of the tie rod and twist the tie rod to change the alignment. For "0" toe the distance will be the same front to back, a slight toe in will be a slightly shorter distance in the front than in the back. Zero toe is ideal, but some like a slight toe in.
If you think you'll do this often, you can easily make an alignment bar. I check mine regularly, plus I change things on the front often enough that I need to re-align it. I used two pieces of 1" angle iron about 3.5-4' long, drilled two holes for wheel lugs and ground a small recess between the holes for the hubs, and made marks towards the ends an equal distance from the center. Floor jack under the axle, remove the tires, slap on the alignment bars, and hook a tape measure over the bars at your marks, and you can do a quick alignment by yourself. Make sure the holes are large enough to go all the way over the lugs so the bars sit flush against the rotor surface.