Here's a Food52 video on this topic. Please note that the statement at the end to cut between the "leg and the thigh" is a mistake. The visual explanation however is pretty clear; look at the juices pooling between the leg and the body of the bird. http://www.youtube.com/watch?v=6C_zDgrPMps ;o)
The thermometer is by far the best way, but I'm guessing you wouldn't be asking this question if you had one on hand. Another way to tell if the chicken is done is to shake one of the legs. If it moves in its socket, the chicken should be cooked through. The thigh joint is the last place (generally) to be fully cooked. (Be sure to wear a silicone glove or use several thicknesses of paper towel before you grab that hot bone at the end of the drumstick.
If you have a thermometer, then insert it into the thickest part of the thigh, away from the bone. It's done when the reading is at 165. Another way to check is when you prick the chicken with a fork, the juices run clear
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