If you don't have a soil moisture probe, some simple guidelines can help you decide when to water. Water when grass changes from a green to a grayish blue color, when grass leaves begin to roll, when the grass stays down after being walked on, or when you can't easily push a screwdriver down into the soil a half foot or so. Apply 1/4 in. of water and then check to see if the soil is wet down to 6 in. If it isn't, make another application just so the soil is moist, but not wet or sticky.
Before the temperatures start to dip toward freezing, be sure to disconnect hoses from outdoor water faucets and drain all excess water from them before storing for the winter to protect pipes from freezing. Close valves that lead to outdoor faucets and open the faucets outside to allow for drainage.