If you don't happen to have 20/20 vision, then when YOU think something is in focus is not necessarily when it'll be properly focused on the sensor. Even if you wear glasses or contacts... if your prescription lenses are no longer giving you perfect 20/20 then you can end of with focus that is just a touch soft. This is because the lens can compensate for your eyes no longer being able to focus sharply -- basically the lens is compensating for myopia and that means everything you shoot will be out of focus by the amount of error in your eyes.
To compensate, most DLSRs have a diopter adjustment wheel -- and it's usually in the upper-right corner of the viewer finder.
To adjust, it helps to massively DE-FOCUS the lens, point the camera at something nice & bright... a white sheet of paper, a white wall, etc. just make sure it's brightly lit. Ignore whatever the camera is pointing at -- look at the guide marks & focus aids that you see on the viewfinder. In fact the viewfinder has a frosted texture and if you really adjust the diopter nice & sharp you can usually see the frosted texture. What you want is for any guide marks, focus point marks, etc. that you see in the viewfinder to be tack-sharp (even though the lens itself is not focused.) At this point, the viewfinder is now adjusted for YOUR eyes.
That means when the image YOU see in the viewfinder is sharp, then the image on the sensor will also be sharp.
It's a lot easier to manually focus with a 35mm or full-frame DSLR because the viewfinder image is much bigger and brighter (remember... the sensor is bigger, so the mirror is bigger, the pentaprism is bigger, etc.)