I didn't think I had an answer and was waiting for someone else to respond. But I came up with the info below.
I'm pretty sure when I joined a gym 17 years or so ago, they offered a free (with membership) annual assessment. I remember doing a flexibility test. And I think they did a body fat assessment with calipers. I've read here that the caliper test isn't accurate for folks who've lost a lot of weight and have loose skin.
My Tanita scale has a body fat calculator based on impedance - electrical flow through your body. I don't remember where we bought the scale, possibly at Sam's. I've read that they can be off by quite a bit.
Underwater tests are supposed to be very accurate, but I have no idea where to start looking for one of these.
I did a search on the topic and found this article that compares several methods.
http://www2.gsu.edu/~wwwfit/bodycomp.html The site was created by a graduate student at Georgia State and is on the University's website, but hasn't been updated since 1998.
There's also an online calculator that uses your height, weight, age, hip measurement, calf, thigh and wrist measurements. This is free and easy. I was surprised it didn't take the waist measurement into account.
http://www.healthcentral.com/cholest....html#accurate
Also, do a search on 3FC for Calculate Body Percentage (can't search using Fat as it's only 3 letters), and you'll find a number of interesting threads on the topic.