It depends. You can:
1. Inflate your tires to your manufacturer's recommended pressure as listed on the sticker on your door. This is the recommended pressure for maximum load, though, so it might not give the best ride or traction. But it should be perfectly acceptable to run them at the door sticker pressure while towing instead of at max sidewall.
2. Weigh your rig's axles separately. Divide each axle weight by 2. That's how much each tire should carry. Alternatively, find a place that lets you weigh all 4 tires separately. Go to the tire manufacturer's website and find the load inflation tables. Use that to find the appropriate inflation value for said weight. Inflate your tires to that pressure. This will give you the best ride and the recommended contact patch between the road and your tires. Be aware that you'll have to up the pressure if you add any cargo.