The answer is a blinking long time, the bulk of the charge will take place in 4 or 5 hours, but to get to 100% on a battery that's been left flat for a while with a voltage regulated taper charge may take days to break down all the lead sulphate on the plates.
A bench charger is the best bet, charge until the terminal voltage is over 14 volts,(charging) then monitor the SG of each of the cells with a hydrometer. Keep charging until either they all come up to 1260-1280 and gass freely, or you decide one cell or more is significantly lower than the highest reading cell and take it to the tip!! If the battery is 5 years old then take it to the tip anyway