Start with the base equation of Kc = [products] / [reactants] and since the reactant has a coefficient of 2, we will square the [reactants].
Kc = [N2O4] / [NO2]2, and with some rearranging we can equate [NO2] = sqrt( [N2O4] / Kc )
Plug in the numbers from the problem statement and you should get 2.04 * 10-3 M