Draw a chalk line across the tyres front and back, drive a short distance on a dry stretch of road. Chalk left on the outside edges of the tread indicates over inflated.
It's a bit of a faff but you soon get to know what's spot on for typical loads for your particular set-up. It does vary a lot between tyres.
tyres that were on my disco when i got it were 36psi front and 42psi rear, i've changed the tyres now to insa-turbo tyres i think it was (cheap AT ones to get me through). now i ride nice at 32 all round. (i carry a lot of kit in my boot and vary between on and off road use) chalk test is the way forward