Follow the standard plot arc: conflict, rising action, and resolution. This is often used to describe plots across a whole novel, but it is equally applicable to a single scene. Each scene needs a conflict of some kind, and the action in that scene will flow from this conflict. When the conflict is resolved (temporarily or permanently), the scene is over.
There is often only a single scene per chapter, but you might put several scenes in the same chapter if they are closely related, or if they illustrate some larger arc of conflict and resolution.
Alternately, some authors choose to end a chapter right before the resolution. When done well, this can add suspense and keep the reader flipping pages.