Download a GPS speed app for your phone and go for a drive with it running. Compare the GPS tracked speed with your speedometer and calculate how far off it is.
Each additional tooth will be a 5-6% change so if you figure your speedo is 20% low you'll need about 4 fewer teeth on the gear.
If you need the speedometer to read slower, add teeth.
If you need it to read faster, decrease the amount of teeth.