I have to check whether a graph is planar. The given type is
$$ e ≤ 3v − 6 .$$
From Wikipedia:
Note that these theorems provide necessary conditions for planarity that are not sufficient conditions, and therefore can only be used to prove a graph is not planar, not that it is planar. If both theorem 1 and 2 fail, other methods may be used.
I am wondering what should I do to prove that a graph is planar.
Are you seeking the following result?
Theorem: In a connected simple planar graph with $v$ vertices and $e$ edges, if $v \geq 3$, then $e \leq 3v-6$.
This is typically proved via Euler's Characteristic Formula (e.g. here [pdf warning]); I once set it as a homework question.
This theorem can be used to show e.g. that $K_5$ is non-planar (since it doesn't satisfy $e \leq 3v-6$). But, as Alon Amit commented, the bound $e \leq 3v-6$ can also be satisfied by non-planar graphs, such as $K_{3,3}$ (where more sophisticated arguments need to be used instead).
The most straightforward (human) way of showing a graph is planar is by drawing it in the plane (without crossing edges). Kuratowski's and Wagner's theorems are important results that give necessary and sufficient conditions for planarity.
If you're after particular software, I don't think I could explain it better than in the StackExchange post Shahab mentioned (here).