Generally, the 'set and forget' method is to have the keg at serving temperature, at serving pressure for two weeks before pulling the first glass. There are ways to shorten that time either via the high pressure and agitate method (roll, shake, whatever, never done it) to using the carbonation lid (for corny kegs) that has a carb stone connected to a gas post (2-3 days to get fully carbonated). There are more methods/variations but those are the big three.
If you're going to just set to serving pressure, you could sample at one week, as Spundit posted. I'd just advise NOT being upset if it's not fully carbonated at that time. Since it can take two weeks to carbonate fully (sometimes even longer depending on the brew and your equipment).
Personally, I just carbonate in conical and then transfer to serving keg. Fully carbonated and ready to drink at that point (I give it 2-4 days on CO2 before transferring). Added bonus is it's already at serving temperature (actually a bit lower, but I find that's better than having it at a higher temperature).