Check your owner's manual to see what they recommend. Check here http://repairpal.com/automobile-owners-manuals-online or try this link you may be able to down load a free copy of the owner's manual for your vehicle http://www.autousermanual.com/
If you just bought the car or no nothing of the previous service history, I would change all the fluids, engine oil and filter, transmission and differential oil, adjust valves, change fuel filter, coolant and brake fluid combined with a good overall general inspection of brakes steering and suspension.
Excellent advice from Patrick. If you don't know the service history do all what he suggested. Make sure to use the APPROVED fluids. Don't put green antifreeze in it.
If you need to do the 100K service only, here it is:
100000 MI or 160000 KM
Instrument Panel, Gauges and Warning Indicators
Diagnostic Readout Box
Perform diagnosis quick test. Check "Check control" messages.
Front Brakes: Replace brake pads. Clean brake pad contact points on calipers. Check brake disc surfaces and record thickness.
Fluid - A/T
Fluid Filter - A/T
Maintenance Required Lamp/Indicator
Reset CBS Display.