In an ideal world, you'd hear peeping from inside the eggs, then you'd see small pips or cracks in the shells, near the fat end of the eggs. After a few hours the pips would turn into zips, which is when the chick turns inside the shell and chips a circle round the fat end of the egg. After another few hours, the chicks would finish zipping and would push the ends off the shells and wriggle out.
Of course, it hardly ever happens that they hatch bang on schedule and all at once, so don't worry if nothing happens by the end of the day. Just keep the incubator shut and the humidity levels up and try not to get stressed out by the wait. Good luck with your hatch!