We realize a single-band 2D Bose-Hubbard system with Rb atoms in an optical lattice and measure the condensate fraction as a function of lattice depth, crossing from the superfluid to the Mott-insulating phase. We quantitatively identify the location of the superfluid to normal transition by observing when the condensed fraction vanishes. Our measurement agrees with recent quantum Monte Carlo calculations for a finite-sized 2D system to within experimental uncertainty.