Hold a white card behind it with it pointed out a window or doorway, move the lens or card or both until you can focus an image on the card. Or focus the image on whatever wall is opposite the window/door. The farther away whatever objects you're focusing, the more accurate the measurement will be, but for estimation purposes, extreme accuracy isn't needed.
The distance between roughly the fore and aft center of the lens and the card is the focal length. The exact focal length is measured from the lens's nodal point, which is usually at the aperture (if it has one), otherwise the center is close enough for making a rough estimate.