The mass of a body can be determined by measuring the acceleration 'a' produced in it by a known force 'F'.
Thus, the inertial mass can be determined.
The mass of a body can also be determined by the gravitational force exerted on it by the Earth.
Thus, gravitational mass can be determined.
We know F = mia
Newton performed experiments with a simple pendulum. He measured the time period of a hollow bob filled with different substances. He concluded from his observations that mi = mg.