It depends on the representation used. There are three representations (that I know of): signed magnitude, one's complement and two's complement. Two's complement is probably the most common and goes like this:
Take the positive of the number you want to represent in binary as a negative (e.g., if you want -55 in binary, first start with 55), then flip all the bits (do a bitwise NOT) and add one. One's complement is similiar, except you don't add one after you flip the bits, and in signed magnitude you just use the sign bit to tell if the number is positive or negative (1 for negative, 0 for positive) and treat the remaining bits as you normally would.