Personally I would do one after the engine has had a little time to "break-in" (my best guess is between 1,000 and 2,000 miles). You'll have to do it yourself or take it to a 3rd party.
If you try taking to a Toyota Dealership, they will probably !@#$ you over like did to me and use your 10,000 service. That means they won't give you a 5,000 when that's due because the computer thinks you skipped it, even though they enter the mileage into the computer. They have idiot programmers and they won't fix it. It's borderline not worth my time, so I'm wondering whether or not to push the issue. I'll probably let The Consumerist (consumerist.com owned by Consumer Reports) know, as they like to share issues like that.