Most dogs, except for toy breeds, do not need help as their anal glands are naturally expressed when they have a BM. The exception is if she is on a less digestible food that leaves her stool soft. As long as her stools are firm, her anal glands are probably already expressed. You will know if she needs help as she will start doing the "scooting" on the carpet.
I have read conflicting advice on the best way to do express them on your own from home should you ever need to. Your best best is probably to ask your vet how to do it.
We've only had to had Ginny's expressed once. I had noticed a musky, stinky smell eminating from her behind, and she was "scooting" on the carpet... so to the vet we went. The vet did confirm they were "full," and expressed them for her. It didn't cost too much, and considering we have only had to have it done once in two years, it was probably worth it to pay someone else to do it right.