There are five ways to identify a chemical reaction has taken place: When it has changed color, when a precipitate has been formed (solid), Gas formation (bubbles), change in property (like texture) and Change in Energy:
A solid may appear when two solutions are mixed, solids which are formed in chemical reactions are called precipitates.
A gas may be produce, both in a solid and in a liquid. If it occurs in a liquid you may see the gas as bubbles.
The texture might also indicate that a chemical change has occurred. This does not mean that every time you see a physical change means that a chemical reaction has been taken place.
Finally there might be changes in energy. Exothermic reaction and endothermic reaction. The exothermic reaction means that it released energy, and the endothermic reaction means that it has absorbed energy.