The gravitational constant denoted by letter G, is an empirical physical constant involved in the calculation(s) of gravitational force between two bodies
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You measure the gravitational force between two objects - this can be done with a Cavendish balance. Then you plug in the numbers (masses, and force) into the universal formula for gravitation.
Henry Cavendish
G = 6.6738480x10-11 m3kg-1s-2
Henry Cavendish with about 1.19% error. He measured it to be 6.754 × 10−11N-m2/kg2.
what is dimnsion of gravitational constant