Hi there, Leo provides good advice, you should check out local competitor's websites to check their pricing. Check out the SizeUp tool which provides free customized business analysis to small businesses in three ways:

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Assuming you're talking about residential (which you may not be), a lot of
cleaning companies list their pricing on their websites. I would just do some
searching for the competition in your area. Other companies will want to come
and see the home to generate a custom quote.

One thing that I think would really differentiate you from your competition
is to offer a unique pricing model. For example, you could offer a discount
to people who agree to at least 2 cleanings per month for 6 months and let
them pay with a credit card. People who hire cleaning companies are all about
convenience, so your pricing should reflect that.