To check for discolored water, turn on the cold-water spigot in either your bath tub or bathroom sink for a couple of minutes. It is easiest to see discolored water in a white tub or sink. If the water is clear after a couple of minutes, it should indicate that the water out in the water main is clear as well, and therefore, you should be able to resume using your water as usual at that time.
However, if the water is discolored after a couple of minutes, turn the water off and wait for an hour or so until you check again. Discolored water may occur for a period of anywhere up to 24 hours, but during flushing, it typically lasts for a few hours. If discolored water were pulled into your home, continue to check for discolored water (once an hour) until you notice clear water running from the spigot. At this point, you can flush out any additional discolored water that may be left in your household plumbing by running cold water from faucets as necessary until the water runs clear from each faucet.
Additionally, before doing your next load of laundry (especially if you will be washing whites or light colors), you can run your washing machine through one cold wash cycle without clothes to flush out any discolored water that may be present in your washing machine or the line feeding your washing machine.