Trial and error! It also depands on the camera, but generally image - download - focus -image -download - focis etc etc etc...
With the 300D I use DSLR focus. Takes about 10mins is acheive decent focus.
Astrophotography is a sport of patience. If I'm setup ready to image in 40mins I am doing very well...
1. Check polar alignment - 10mins (I have a portable ssetup arrghhh)
2. Find desired object with normal EP - 1 to 15mins depending on the object!
3. Replace EP with camera - 1min
4. Focus, focus, and focus. - 10mins (I know how to get close manually, & then just finish off with trial & error method as above.
5. Center object in camera frame. - 5mins (Again trial & error. Take image, move scope, take image etc.
6. Find a guide star - 5mins
7. Align guide camera with guide star. - 5mins (I use K3CCDTools2 for guiding)
8. Start imaging 40mins - 400mins!
9. Go inside watch TV, browse IIS, & wait! Oh I wish I had a dob so I could do some viewing while imaging...
Ok, so I drifted off-topic a little... but you get the idea!

Cheers