For isolated mitochondria the following paper gives you for all complexes including complex I
Rate limiting step in electron transport: osmotically sensitive diffusion of quinones through voids in the bilayer. J.C. Mathai, Z.E. Sauna, O. John and V. Sitaramam. J. Biol. Chem., 268, 15442-15454, 1993.
Standard complex I activity assay monitors the decrease in the absorbance of NADH (at 340 nm) using decylubiquinone as an artificial electron acceptor. The nature protocol paper is the one I follow. Just a word of caution from my experience: there is considerable rotenone-insensitive background activity, especially in mito from cultured cells.
NADH is impermeable to intact mitochondria. Hence you should use sonicated mitochondrial particles (SMP) for monitoring the decrease in the absorbance of NADH (at 340 nm) using decylubiquinone as an artificial electron acceptor.