Knowing after the fact can be a bit difficult if you are not actively monitoring your network traffic. But there are some things you can do now to determine if you were at risk of being a participant and to mitigate against future participation.
As has been mentioned in a number of places, if your WAN router/bridge/cablemodem/firewall has uPnP turned on, you've definitely opened up your local network to risk. You should turn this off.
For your various devices, if you've left the default administrator password set, you've left yourself open. Change this.
Make sure the firmware on your devices is up to date and expect further updates to come out in the near future.
If you have devices that don't need to communicate on the Internet to "call home," then block them from doing such things; don't give them a default route, add firewall rules, etc.
By most accounts, CCTV (e.g. web cams) were the primary devices infected and utilized. If you have such a device and a list of know offenders can be found here (https://krebsonsecurity.com/2016/10/who-makes-the-iot-things-under-attack/), you might consider taking some action.