The quickest rough way is to put the infinity symbol next to the aperture mark on your depth of field scale. I tend to play slightly on the side of caution - so if you put infinity mark at 11 - set the aperture at 16. This should give you reasonable hyperfocal
The point of this though is to get as big a depth of field as possible - so that everything from close up to far away is in focus. It means using small apertures and therefore a tripod
If you're simply taking pictures where everything is far away - then you don't need to do this, and can use a much bigger aperture and get a quicker shutter speed - so you can handhold
For eg if you're taking a picture of distant mountains, everything is going to be so far away you can just focus on infinity with the smallest aperture and it'll all be in focus
If you're taking a picture of a band in a darkened theatre - try scale focusing. Basically guess how far away they are, set this on the lens, and close the aperture down as much as you can while retaining an adequate shutter speed, to give you as much depth of field as you can. If its a really important shot - just try adjusting the focusing distance a bit on the lens in case you guessed wrong
I know it sounds like you're shooting and hoping for the best, but it'll get you some decent shots in a tight situation
Hope my ramblings help
