Femtosecond extreme ultraviolet (XUV) pulses were fully characterized for the first time by using a newly developed cross-correlation frequency-resolved optical gating (FROG) technique in the XUV region. This method utilizes laser-assisted two-photon ionization as a nonlinear optical process. Near-infrared pulses characterized by FROG were used as a reference. The amplitude and phase of XUV pulses with a pulse duration of 10 fs were found to be in good agreement with a model analysis, taking into account phase modulation by ionization, self-phase modulation, and the atomic dipole phase.