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When LO was a newborn, I burped her after every nursing and sometimes in the middle of one if she was crying during nursing (due to gas buildup). My favorite position was sitting her on my knee facing away from me using one hand to hold up her head while patting and rubbing her back (second photo on this site)
http://www.netplaces.com/pregnancy/breastfeeding-basics/bottle-basics.htm

After a few months, I switched to the over the shoulder burp position and at around 6 or 7 months, she no longer needed my help to burp.

Keep in mind that nursing babies generally don't need to be burped as much. Also, you may want to consider switching bottles to reduce the amount of air swallowed.

I burp and have always burped her after each breast, long enough to get one nice sized burp out. She hates being burped so sometimes I don't, but shes great at getting out her gas on her own.

I agree with the 'when he fusses' and 'when he's done'. For a while my guy was scared of burping or something...he'd get all upset and try not to. Then I started feeding him upright and he would just burp in the middle of eating. Now that he's older and over that I've gone back to traditional.

I use to burp mid-feed (before switching to the other breast). When I started feeding from one breast at a time I would do it after the feeding was over or mid-feed if she became fussy. I also kept her elevated for at least 15 minutes after a feeding.

At 5 months she no longer needs to be burped. She's a pro at doing it herself.

I usually burp after each side; but sometimes he just doesn't burp. Probably b/c I don't pat him hard enough sometimes. Now that he's almost 6 months I wait until I'm completely done and then burp. He should be burping on his own soon enough. My oldest started burping on his own around 6 months.