Press cursor-down (marked with a one-handed clock) to bring up the self-timer menu, use cursor-left/right to select the desired delay, then press the MENU/OK button. Start the self-timer by pressing the shutter release button as usual.
Full details are in the "Using the Self-Timer" section of the manual (page 39 in my copy). If you need a manual you may download a copy
here.
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