Is there a fool proof way to fry sausage? I love fried sausage with breakfast; it goes great with bacon. But I've always been a little freaked out about under cooking sausage and I don't prefer cooking the crap out of it. Is there a fool proof way of frying sausage, and if not are there any guidelines? 

And for bonus points can I get away with frying it in a stainless steel skillet?

Update: I guess the meat of my question is: How do I know when it's cooked enough for eating?
If you cook the sausage low, slow, and covered (with a few table spoons of water and/or onions) until properly cooked then brown to desirable crispness you are guaranteed to be eating fully cooked sausage.