Loosen your arm's lock nut and slide some playing cards beneath the arm base, one at a time, until you get the height you want. Then measure the thickness of the cards. (If you have a feeler gauge, use that instead of cards of course.)
As for what height to choose, we can't tell you even after learning the model of your cartridge because there are too many variables (record thickness, mat thickness, cartridge suspension wear, etc.). What matters is how the music sounds at various arm heights, and no one can tell that but you.
The VTAF mentioned by Sounds_real_audio would give you flexibility to adjust for different LP's, or different cartridges for that matter.
OTOH, if you just want a set-and-forget height, choose a typical thickness LP and make the armtube level. That's close enough for those not inclined to tweak for optimum sonics.
Doug
P.S. Whatever height you end up at, don't forget to recheck your tracking force. Changing arm height on a Rega alters the VTF slightly.