The TDSE is:
$$
\hat{H}\Psi = i \hbar \frac{\partial \Psi}{\partial t}
$$
Taking the complex conjugate (note that $H=H^{*}$ since the Hamiltonian is Hermitian):
$$
-i \hbar \frac{\partial \Psi^{*}}{\partial t} = (\hat{H}\Psi)^{*} = \Psi^{*}H^{*} = \Psi^{*}H
$$
By definition:
$$
\langle\hat{L}\rangle=\langle\Psi|\hat{L}|\Psi\rangle = \int_{\mathbf{R^3}}\Psi^{*}\hat{L}\Psi \,\mathbf{dr}^3
$$
Therefore, since $\hat{L}$ is time-independent:
$$
\frac{\partial}{\partial t} \langle\hat{L}\rangle= \int_{\mathbf{R^3}}\frac{\partial \Psi^{*}}{\partial t}\hat{L}\Psi \,\mathbf{dr}^3 + \int_{\mathbf{R^3}}\Psi^{*}\hat{L}\frac{\partial \Psi}{\partial t} \,\mathbf{dr}^3
$$
Sub in the first two equations and multiply through by $i \hbar$:
$$
i\hbar \frac{\partial}{\partial t} \langle\hat{L}\rangle= -\int_{\mathbf{R^3}}\Psi^{*}\hat{H}\hat{L}\Psi \,\mathbf{dr}^3 + \int_{\mathbf{R^3}}\Psi^{*}\hat{L}\hat{H}\Psi \,\mathbf{dr}^3 = \int_{\mathbf{R^3}}\Psi^{*}(\hat{L}\hat{H}-\hat{H}\hat{L})\Psi^{*}
$$
$$
i\hbar \frac{\partial}{\partial t} \langle\hat{L}\rangle = \int_{\mathbf{R^3}}\Psi^{*}[\hat{H},\hat{L}]\Psi^{*} = 0
$$
Therefore, $\frac{\partial}{\partial t}\langle\hat{L}\rangle=0$, which means that $\langle\hat{L}\rangle$ is a constant, as we wanted to show.