I'll second jaytee's recommendation for using the rear AF button, but I think you were asking more about how to set the lens up rather than shooting style.
In most cases, you should not have to do anything, the factory adjustments should be right on.
However, here is what I do with a newly purchased lens, either new or used:
1) Carefully examine all mechanical aspects of the lens, check operation of zoom, focus and aperture rings. Everything should operate smoothly and as expected.
2) Examine the glass itself, using a flashlight and/or white paper to reflect light through the lens. Look for scratches on front and rear elements, look for signs of fungus or internal dust or element separation.
3) Examine the mount and electrical contacts if present, the mount should be clean without undo wear. The contacts should be clean, shiny and in the proper positions.
4) Mount the lens and check for operation again, make sure the camera can control everything properly, check the EXIF to see if the lens is identified properly.
5) Put the camera on a tripod and aim at a well lit, known target. This can be a brick wall, a book case full of books or an actual focusing target. Take a series of shots at different aperture openings. Move the focus ring to one extreme before each shot so the AF mechanism has to work. On MF lens I do the same to see if I get repeatable results with the focusing screen.
6) If the focus results are satisfactory I am good to go. If I am not happy then I break out the Spyder Lenscal for more intensive measurements.
The k-5 is capable of fine focus adjustment for individual lenses if you need to make any corrections. This is under Menu>C4>#26 (AF Fine Adjustment). I would NOT recommend jumping in and making any changes without a lot of testing. Getting accurate and repeatable results from AF testing is not easy and you can quickly decide you have a problem when in reality the lens is fine but your testing is flawed. Never accept the results of a single test, make many repetitions to be sure you are getting the same results before attempting to make changes, especially if this is not something you have done before.
Here is a
link to reviews of two of the lens AF testing products with some additional information on adjustments. But unless you are positive you have a problem, it is best not to mess with things.