Go here, join, log in and register your VIN to see the service history. http://drivers.lexus.com/lexusdrivers/history
If you bought it new and it has not had the free dealer service, then, theoretically, they should provide it. It is more than just an oil change, they can also personalize the settings on the remote, Nav and other systems. Check your owners manual.
The first free service is at 5,000 and is just a system check, then at 10,000 they change the oil.
Note my friend just got a 2016 ES 350 and was told it had special break in oil. That the dealer would change the oil at 5,000 miles and at 10,000 miles, only putting in the full synthetic at the 10,000 mile oil change.