A semiclassical Bohr-Sommerfeld approximation is derived for an N -particle, two-mode BoseHubbard system modeling a Bose-Einstein condensate in a double-well potential. This semiclassical description is based on the 'classical' dynamics of the mean-field Gross-Pitaevskii equation and is expected to be valid for large N . We demonstrate the possibility to reconstruct quantum properties of the N -particle system from the mean-field dynamics. The resulting semiclassical eigenvalues and eigenstates are found to be in very good agreement with the exact ones, even for small values of N , both for subcritical and supercritical particle interaction strength where tunneling has to be taken into account.