This is the first paper in a series on event horizons in numerical rel
ativity. In this paper we present methods for obtaining the location o
f an event horizon in a numerically generated spacetime. The location
of an event horizon is determined based on two key ideas: (1) integrat
ing backward in time and (2) integrating the whole horizon surface. Th
e accuracy, efficiency and robustness of the methods are examined with
various sample spacetimes, including both analytic (Schwarzschild and
Kerr) and numerically generated black holes. The numerically evolved
spacetimes contain highly distorted black holes, rotating black holes,
and colliding black holes. In all cases studied, our methods can find
event horizons to within a very small fraction of a grid zone.