If you don't have access to an oscilloscope, try this:
- Wire your speakers together on one channel for an 8 ohm load (if your speakers are 4 ohm) to reduce the power going to them and prevent clipping damage.
- Burn a test tone (such as 1kHz) on a cd and play it on repeat.
- Gradually turn up the gain until you hear distortion. Then, turn it down a bit until the distortion disappears.
- Wire your speakers back to 4 ohm (as normal).
- Get a digital multimeter, set it to measure voltage and measure the voltage being sent to the speakers.
- Find the power handling of your speakers. Multiply it by the impedance (4 ohms in my example). Then, calculate the square root of this number.
- Compare the voltage you just calculated with the one you just measured. If it is significantly higher, lower the gain until you reach the voltage corresponding to your speaker's power handling.
This is how I set the gain on my Lanzar amp, which is somewhat overrated. Of course an o-scope or bench testing on the amp would be much better, an audio shop could probably do that for you if you're unsure.