The skins will first turn dark, when they are ripe you'll have to give them a squeeze test! When they feel that the initial hardness has gone and there's a bit of give in the flesh they're ripe. Remember that tomatoes can carry on ripening when picked so if you're a little early, it's not the end of the world. Don't store picked tomatoes in the fridge - it affects flavour - much better to keep them in a bowl or basket on the side in your kitchen.