it depends on the version of browser you're using. just press CTRL+H (will work for Internet explorer 7 or previous) at the same time a pane will appear in the left side of the window click to view the history you want to see: Today, Yesterday or Recent. You can also view By date and Site, by Site, By Date, By Most Visited, By Last Visited and so on... hope this helped. In Mozilla though it very easy b/c the History option is available on the tool bar that has the File option on it.
here's a link for mozilla firefox option:
http://homecomputerpi.com/Firefox_history_folder.jpg
here's an image for internet explorer 6 the history option is highlighted in red:
http://www.net-wise-parents.com/image-files/history-ie6.png