First, if the pulley slipped only a little, no problem. If it slipped a lot it's going to be more tedious. Assuming it's a notch or few out, turn the motor until the crank pulley shows TDC and the cam pulley is close to it's mark--remember the cams go around once and the crank twice, you may need another full revolution to get the cam marks close. Then you can look at the notches in the cam pullleys. They generally are pretty clear if you look carefully. Careful not to bump the crank mark, loosen the belt, move the cam pulley until the notches line up, put the belt back on. It's not hard at all.
If you can't easily see the marks on both the engine and pulleys you should get a manual. On some motors the pulley mark lines up with the oil pan seam or something instead of another mark.
If the cams are in a random place, you need to pop the valve cover so you can see the rockers for the #1 cylinder. Then you would carefully rotate the cam pulley (being careful of piston-valve interference) until both rockers are up--meaning the valve stems are as high as they will go. Look at the cam mark while doing that--it will line up when they are all the way up. Then set the crank mark and then put the belt back on.
To check the marks before buttoning it back up. turn the motor a full two revolutions and check it as the marks come up on the second crank revolution. That will pull the slack out of the belt and give you a true reading on the mark alignment.
A manual of some type should be consulted. Especially to make sure the tensioner is set correctly and that the mark alignment is correct.