I let my plant tell me... if they are really stretching a lot at this stage, the light is too high and so I lower it... if it's not getting taller at all, it's too close so I raise the lights to get more stretch. Always use your hand to judge whether the lights are TOO close - i.e., if you put your hand over the top of the seedling and the light makes the back of your hand too warm/hot, the light is going to be too close for the plant... That's it... it's that simple... just listen to your plants!
Good luck!