You find a measure of the amount of matter in the rock.
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Measure it.
You measure its mass and volume and then density = mass/volume.
Scales to measure its mass and a ruler to measure the length of the cube's side.
You measure its length, breath, height and mass. Then Density = Mass/(Length*Breadth*Mass) in the appropriate units.
To find the mass and volume of an object, you need to use a measuring device. For example, you can use a balance to measure the mass of the object and a graduated cylinder to measure its volume. Once you have these measurements, you can record the mass as 50 grams and the volume as 5 milliliters.