A good rule of thumb is to set the crossover for a speaker at about double the -3dB point, or about 80Hz, whichever is lower. (Much higher than 80Hz might cause the bass to be localized). So if your mains are good down to 30Hz, try a crossover of 60Hz. Rules of thumb aside, the best setting is the one that sounds best to you. There's nothing particularly magical about 80Hz, other than that it's usually a good compromise setting.
Things get complicated if you have a global crossover vs. a per channel crossover. Then you might have to put the crossover higher than you might otherwise to keep the surrounds or center channel from being crossed too low and creating a hole. It might be possible that the best setting would be 60Hz on the mains, 80Hz on the center, and 100Hz on the surrounds, for instance. If you only have one setting, you might have to compromise and put them all at 80Hz or even 90Hz. I wouldn't worry too much about filling every hole in the surrounds since you probably won't miss anything there, but you might be bothered by low voices coming from the corner of the room, which is a possibility if your center channel crossover is set too high.
Good luck!