Just did my 10000 mile maintenance. All you need to do is change the oil and rotate the tires. Back ones go on the front and front one go on the back. They stay on the same side of the car.
This link has some good information on what the service intervals are for the car.
As far as oil, it does not matter which kind you use (dino or Synthetic) just get 5w-20 or 0w-20. I used mobile 1 0w-20 synthetic and a filter I got at the toyota dealer.
Hope that helps,