I listen for progressions. If you can hear 3-6-2-5-1 at the end of a verse or chorus, and that is the main progression, then that 1 will more than likely be your key. Example:
G (3)
C (6)
F (2)
Bb (5)
Eb (1)
If this is your main progression, then you are more than likely in the key of Eb.
If you hear 7-3-6 at the end of a verse of chours, and that is the main progression, then that 6 will be your key. You will be in a minor key in this case, so u have to count up 1 1/2 steps to find its relative major. Example:
D (7)
G (3)
C (6)
If this is your main progression, then you are more than likely in the key of Cm. The relative major is Eb.