The most trustworthy method is how your clothes fit.
I confess, however, that, overwhelmed with curiosity over a long period of time, I finally bought a set of calipers. I made my husband do the measurements, and I think he did a good job. However, the calculations, according to the instructions that came with the calipers, were shocking. NO WAY!!
I found a website that provided different arithmetic. The results from this were much more consistent with what common sense told me about my actual bodyfat. I also learned that with many women, the construction of the fat under the skin is such that you can't really get an accurate "pinch" (that is, skinfold) in the required areas--for example, the front of the thigh.
I put those calipers away and quit obsessing.