In my experience, you will need to play around with that in your own room. Will you be using a high pass filter to your main speakers, or just be setting a crossover for the sub and letting your main speakers play full range? If you are not using a high pass filter for your main speakers, take a look at their frequency response curve and you will have a decent idea of where to start playing with the corssover–at the point that the low end begins to decline on that graph. You could either set the crossover by ear, or employ a meter and some test tones if you are more concerned with a flat response. Sub placement will likely also play a role here.
For more advanced sub-mains integration you might want to look into something like an NHT X2 or other crossover with such features. I just obtained one and am looking forward to setting it up as soon as I get back into town.
Hope this helps.