It depends on where you live in the country and how new your lawn is.
As a rule of thumb, when the temperature reaches the 80's, it's a good time to start watering.
Where I live, it's recommended to start watering at the end of May - when the temperature gets around 80-90 degrees.
If you have new sod or seed, you should water 1 to 2 times a day for 15 minutes.