MPBR (as RC said) is the best way to go, it will vary based on your exact ammo/rifle and what size target you plan to shoot, but you can generally get pretty close with your "typical" ammo and just leave it alone. For instance if you are like me and 90% of your shooting is 55-62gr ammo, just take your favorite 55gr ammo and sight in for a convenient distance (50 yards for me), assuming a 6" diameter target. You could assume a 12" diameter target as a typical COM of a person, or what-have-you.
To be most precise you'll need a chronograph, but the whole point of MPBR is so that you don't have to think so much. But for fun you can go to Hornady's (or any decent) ballistic calculator and type in some values to see what happens.
For a 55gr Hornady FMJ BT (BC = 0.243) and muzzle velocity 2900 fps (assuming sight is 2.5 inches above bore axis)
25 -1.1"
50 0.0"
100 +1.3"
125 +1.4" (highest it ever goes, still within target)
150 +1.2"
200 -0.4"
250 -3.9" (just outside your target)
300 -9.5"
As you can see, a 50-yard zero will never go higher than 1.4" but will drop outside your intended target prior to the 250-yard mark. So you would maybe consider a closer zero (or making it so that the impact at 50 yards hits a bit higher, however you like to think about it). To really optimize the MPBR, you have will have to be x.x" above or below the target at a certain distance, but personally I just like to put the crosshairs on the target and truly "zero" at that distance.