The configuration model is a standard tool for uniformly generating random graphs with a specified degree sequence, and is often used as a null model to evaluate how much of an observed network's structure can be explained by its degree structure alone. A Markov chain Monte Carlo (MCMC) algorithm, based on a degree-preserving double-edge swap, provides an asymptotic solution to sample from the configuration model. However, accurately and efficiently detecting this Markov chain's convergence on its stationary distribution remains an unsolved problem. Here, we provide a solution to detect convergence and sample from the configuration model. We develop an algorithm, based on the assortativity of the sampled graphs, for estimating the gap between effectively independent MCMC states, and a computationally efficient gap-estimation heuristic derived from analyzing a corpus of 509 empirical networks. We provide a convergence detection method based on the Dickey-Fuller Generalized Least Squares test, which we show is more accurate and efficient than three alternative Markov chain convergence tests.