Paper wasps are small (up to 1/2 inch long), brown, and have a black band on their abdomen. They are most easily identified by their small size and their black band.
The best way to get rid of paper wasps is to eliminate their food sources by thoroughly cleaning your kitchen and bathroom. You can also use commercial fly traps or bait. If you have a severe infestation, you may need to call a professional exterminator.