Look in the service manual that comes with the car. It lists when to get the oil changed, filters, etc. Simply follow the schedule in the manual. As far as who does it it's up to you. I do my own oil, oil filter, engine filter, cabin filter, and tire rotations myself. If you do it yourself write the mileage and what was done in the service manual. Other items such as power steering, cooling, or fuel system work I let the dealer do until any warranty is up. There is also a Toyota Owners web site where you can see what work was done by a Toyota dealer on your car and you can also input anything you have done. The site is at
https://auth.toyotaownersonline.com