If an amplifier doesn't have enough power for your speakers in the room you're in at the volume level you listen at, the sound will be distorted. The phenomenon is called "clipping" because the tops of the waves are clipped off when viewed on an oscilloscope. The sound is pretty bad, and quite obvious. If you're not hearing any distortion, then pretty much by definition the amplifier is fine for your purposes.
An amplifier's power rating is determined by how much power it can deliver without clipping. How much power you need is determined by the volume you listen at, the efficiency of the speakers, and the room you're in.