All you need is a tape measure. This uses the US Navy method, which estimates body fat from your height and a few measurements.
Developed by Hodgdon and Beckett for the US Navy in 1984, it predicts body fat from height and circumference measurements: neck and waist for men, plus hips for women. It needs nothing more than a tape measure, which is why it's still used for military fitness standards.
Use a soft tape, snug but not pressing into the skin. Measure the neck just below the larynx. Men measure the waist at the navel, women at the narrowest point. Women also measure the hips at the widest point. Measure relaxed, not sucking in, and take each one twice.
For most people it lands within about 3 to 4 percentage points of lab methods such as DEXA. It is best for tracking change over time: measure the same way every few weeks and watch the trend.
The ranges shown are the American Council on Exercise's general categories for adults.