Stick it on a tripod and point it at a flat, perpendicular, high contrast subject, like a printed page of good quality print from a book/magazine - probably not a newspaper. If using a zoom lens, get in tight and fairly close to minimise DOF. Use centre point focus and oneshot. Let the lens AF.
Now, without moving anything, switch on Live View and zoom in on the subject to 5X or 10X. How does the focus look? Is there anything you can do to improve the focus manually? If so, which way do you need to move the lens? If you have to move the focus closer, you have back focus. If you have to move the focus farther, you have front focus. If you can make little or no improvement then your body/lens did their job.
If you prefer, you could run the whole test, including the AF bit, using Live View. You may need to tweak some custom settings to enable Live View and allow AF to work. If you perform the test using a tethered connection you can even determine how many nudges are required to improve on the performance of the AF. If there is a problem then try testing at a couple of focal lengths and then you will have some hard data to supply to Canon if you feel the need to send your equipment in for calibration.