You can't really see the CV joints themselves. They are the joints on the front axles that allow articulation for suspension travel and steering and they're covered by rubber boots. The only way to inspect them is to remove them, disassemble, clean them and look for wear, but at that point there is no reason to reassemble old axles to put in. If they're making a grinding kinda popping noise when you drive in a turn, they're bad and need to be replaced.
Look on the 'net or phonebook for a axle service place. They can supply you with rebuilt axles which you can put in, or have a shop put them in for you. Its something that can be done at home, but it requires a complete disassembly of the entire front suspension and some specific assembly requirements. Head to a book store or parts store and see if they have a Haynes or Chilton's manual for your car.
Most places do free estimates, so they'll be able to tell you in the first 100 yards of driving it if its CV joints or not. That's a free way of diagnosing the problem.
cost for axles varies greatly by vehicle. I was able to get complete rebuilt axles with new joints and boots for $80 each for a VW, but I've heard horror stories of $300 or more per side before. Shop around.