Really depends what bike, what tyres, trail tyres, trials tyres, knobblies etc, however as a rough guide i'd try 32 front and 34 rear on the road, and drop to 15 or 16 psi off road, bit less if really muddy or soft sand but that depends on if your bike has got security bolts fitted.
If you haven't got security bolts fitted to stop the tyre creeping (and ripping the valve out of the tube) at low pressures one trick is to chisel small indents into the inside edge of the rim where the tyre bead sits as this will stop the tyre creeping. May sound mad but i'm not joking, but don't try this with cast alloy wheels