For specific gravity, you can use a hydrometer (if you have the right size), though I usually use a pipet of 10ml size, or larger, drain it into a tared beaker, and weigh it. I have also used a tared graduated cylinder, filled it to a mark, and weighed it. This latter method is not quite as accurate as the pipet, due to the greater inherent error of graduated cylinders. However, if you have never used a pipet before, I would use the graduated cylinder. It's probably accurate enough for what you need. Pipetting strong acids can be dangerous if you don't have some experience.
If you don't have the above labware, tare some sort of glass or plastic kitchen measuring cup (or, vessel) that measures in ml, fill it to a mark and weigh it in grams. Something tall and narrow would be more accurate than something short and wide (such as a standard Pyrex measuring cup). I would also think that a plastic measuring cup (or, vessel) would be more accurate than glass, since the graduations on the plastic cup (or, vessel) are molded along with the cup, whereas, with glass, they are added later and there could be a registration error.
For all the above, to calculate the SG, divide the weight in grams by the number of ml you measured out.
