Where does one find apostolic succession taught?
How does one know if a tradition is from God or men?
Shut up and do what father says.
Ooops. Did I say something wrong?
Seriously, I think one tries to dope out what the Magisterium is and has recourse to it. The basics, are clear. The Nicene Creed is a start. But then I think it comes down to what you want to know. When I want to root around in some particular I go to my learned friends and to the footnotes in the Catechism.
Of course, for us everything depends on God's promise not to abandon the Church to error, though He sho' lets her flirt with it more than I like.