In a very simple way which we are interested to know is to measure it by simple balance but for which we have to know the acceleration due to gravity at that place, because acceleration due to gravity is not only changes from planet to planet but it also varies in different places at earth.
Approximately we can take acceleration due to gravity on earth equals to 9.8 m/s2 . Now we can measure weight at that place, remember you when go to shop and says give me 1 kg of sugar, do you mean 1 kg of sugar, no you mean it 1 kgms-2 of kg, because kg is the unit of mass not weight. So after you have weighted that object divide it by acceleration due to gravity at that place and you will got with an value know as mass.
Remember acceleration due to gravity is not always 9.8 m/s2 it is on earth and in horizontal surface, I will show you how it got changed in an inclined plane.
There are more modern method to measure weight and may be I will tell you in my later posts.
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