Carefully.
No, Honestly, there's really no reason to continually check gravity during fermentation.
Once you're getting to the end, though is when you want to check.
Basically, try to disturb the beer as little as possible. Refractometers aren't great at checking fermented beer gravity - the alcohol throws things off, but if you have your OG there are online calculators to convert.
If you want to use the hydrometer, you need a thief (sanitized of course) to get the beer out. You don't really want to start siphoning, but you can. Again be careful not to disturb the air inside any more than you have to.
Personally, I leave my beer untouched till about 2 and a half weeks after brewing. Presuming there's no activity visible (I do use buckets most of the time) I'll open it, again being careful, and I'll put my (sanitized) hydrometer right in. I'll get the reading, then seal it up leaving the hydrometer in there. 2 or 3 days later check again and presuming it reads the same, it's bottling / kegging time.