Mazur's theorem shows that given an elliptic curve defined over the rationals, the only possible torsion subgroups are the following:
$$\mathbb{Z}/N\mathbb{Z}\quad \text{ with } 1\leq N\leq 10\ \text{ or }\ N=12,\ \text{ or} $$
$$\mathbb{Z}/2\mathbb{Z} \oplus \mathbb{Z}/2N\mathbb{Z} \quad \text{ with } 1\leq N\leq 4.$$
In your example, the torsion subgroup of $y^2=x^3-x$ is isomorphic to $\mathbb{Z}/2\mathbb{Z}\times \mathbb{Z}/2\mathbb{Z}$, generated by $[-1,0]$ and $[0,0]$. There are several ways to compute the torsion subgroup; the Nagell-Lutz theorem is one effective way. The theorem says the following. Let $E: y^2=f(x)=x^3+Ax+B$, with $A,B\in\mathbb{Z}$ and $D=4A^3+27B^2\neq 0$. Let $P=[x_0,y_0]\in E(\mathbb{Q})$ be a point of finite order. Then, $x_0,y_0$ are integers. Moreover:
In your case, $E: y^2=x^3-x$ has $A=-1$, $B=0$, and $D=-4$. If $f(x)=0$, then $x=0,1$ or $-1$, which correspond to the points $[0,0]$, $[1,0]$, and $[-1,0]$. If $y_0^2$ is a divisor of $D=-4$, then either $y_0=\pm 1$ or $y_0=\pm 2$. But $x^3-x-1=0$ and $x^3-x-4=0$ are irreducible over $\mathbb{Q}$, so there are no other rational torsion points. Hence the torsion subgroup of $E(\mathbb{Q})$ is formed by $[0,0]$, $[1,0]$, and $[-1,0]$, and the point at infinity $[0,1,0]$.
Here we show examples of curves with the torsion subgroups mentioned above:
\begin{array}{ccc}
\hline
\text{CURVE} & \text{TORSION SUBGROUP} & \text{GENERATORS} \\
\hline
y^2=x^3-2 & trivial & \mathcal{O} \\
y^2=x^3+8 & \mathbb{Z}/2\mathbb{Z} & [[-2,0]] \\
y^2=x^3+4 & \mathbb{Z}/3\mathbb{Z} & [[0,2]] \\
y^2=x^3+4x & \mathbb{Z}/4\mathbb{Z} & [[2,4]] \\
y^2-y=x^3-x^2 & \mathbb{Z}/5\mathbb{Z} & [[0,1]] \\
y^2=x^3+1 & \mathbb{Z}/6\mathbb{Z} & [[2,3]] \\
y^2=x^3-43x+166 & \mathbb{Z}/7\mathbb{Z} & [[3,8]] \\
y^2+7xy=x^3+16x & \mathbb{Z}/8\mathbb{Z} & [[-2,10]] \\
y^2+xy+y=x^3-x^2-14x+29 & \mathbb{Z}/9\mathbb{Z} & [[3,1]] \\
y^2+xy=x^3-45x+81 & \mathbb{Z}/10\mathbb{Z} & [[0,9]] \\
y^2+43xy-210y=x^3-210x^2 & \mathbb{Z}/12\mathbb{Z} & [[0,210]] \\
y^2=x^3-4x & \mathbb{Z}/2\mathbb{Z} \oplus \mathbb{Z}/2\mathbb{Z} & [[2, 0], [0, 0]] \\
y^2=x^3+2x^2-3x & \mathbb{Z}/4\mathbb{Z} \oplus \mathbb{Z}/2\mathbb{Z} & [[3,6],[0,0]] \\
y^2+5xy-6y=x^3-3x^2 & \mathbb{Z}/6\mathbb{Z} \oplus \mathbb{Z}/2\mathbb{Z} & [[-3, 18], [2, -2]] \\
y^2 +17xy -120y=x^3 -60x^2 & \mathbb{Z}/8\mathbb{Z} \oplus \mathbb{Z}/2\mathbb{Z} & [[30, -90], [-40, 400]] \\
\hline
\end{array}