Yep, the owner's manual is a good place to start. Most dealerships also tend to have information about 'recommended service' at the various mileage intervals.
Most of it's just inspections and fluid top-ups though, nothing you can't do yourself, most of the time. I'll usually just follow the basic recommendations in the manual, which in most cars usually equates to a significant service every 50,000KMs (35K miles). And even then, it's usually just a tranny fluid flush, tops ups, and inspections. Usually around 80-100K is when some of the belts and spark plugs tend to get replaced.
For my past few cars, it's usually been about $250 (at 50,000Ks) and $425 at 100,000Ks. More times that not, it's paid off because they catch things early.