No owner's manual?
All owner's manuals will tell you how to do it. Any service manual, like Clymer's, will also tell you how.
Here's how I do mine. Raise the rear of the bike on the center stand or with a rear-wheel stand. Loosen the axle nut. Loosen the lock nuts on each adjuster. Mine is old, and just has a stud to screw against the swingarm, but newer stuff has a cam adjuster that has to be moved until you have the correct amount of play. Mine is between 3/4" and 1". Make sure you move the other side the same distance/number of turns or scroll lands.
You should spin the wheel before you tighten the chain, as there may be some spots where it's tighter than others. Use these spots when measuring chain play, because if you use a loose spot, it may be too tight when the tight spots come around. You can do it without a stand, but it will be more difficult to spin it. Make sure the bike's in neutral. Don't forget to tighten the locknuts and axle nut to proper specs.
