quantum mechanics - How can we know if a pair of particles are entangled?

I'm struggling to find any information on how to check if a pair of particles are entangled.

I've found lots of information on how to entangle particles, but I'm wondering how to check entanglement on any given pair of particles, since any measurement of the quantum system will collapse the system to the state which was the result of the measurement.

The only way I can think of is measuring one particle and then by the definition/concept of entanglement you will know the result of a measurement of the other particle if they are entangled. Is this the only way to know if a pair of particles are entangled?

Any help is appreciated! Thanks!