Larry,
IIRC, recomended replacement is 100K miles, but I changed mine at about 60K miles. My brother-in-law's Explorer went 143,000 miles on the OE plugs.
It is up to you. I changed mine because I enjoy doing auto repair and I wanted to do it. It is ultimatly up to you, though I do not recomend going 143,000 miles on the OE plugs.
Tom