Fresh fluid looks like apple juice, contaminated fluid looks like tea or coffee depending on the age and contamination. There are test strips available but with the expense of brake components, especially ABS pumps, it is generally best just to flush every two years.
In a nutshell...
- buy a couple pints of DOT 3 or 4 brake fluid (check your owner's manual)
- evacuate or remove the fluid from the master cylinder and then fill it with fresh fluid
- bleed the brake furthest from the MC, usually the RR
- bleed the next, usually the LR
- bleed the next, usually the RF
- finally bleed the LF
By bleed I mean either use a vacuum bleeder or a helper to bleed the brake until the fluid changes color and refilling the MC after each wheel.
Because brake fluid is hygroscopic, in that it absorbs moisture; the possibility of brake caliper pistons, brake cylinders or ABS pumps failing because of corrosion is possible with contaminated fluid.