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Take an amount of the substance and find its mass. The density is the mass divided by the volume. Typical units would be kg / m3 or g/L. English units are usually in weight per unit volume such as pounds/cubic foot or ounces / gallon.
Well, you measured a volume of a liquid. Well it would be more typical to measure it, not calculate it. If you know its density, you can calculate it out using the formula density = mass/ volume. volume = mass/density. usually its measured by using a graduated cylinder or volumetric flask.