I'm sure the cost will depend upon where the service is done. Please use a good shop. The dealer will probably be the most expensive, but there is probably implied warranty. If you go to a tire/brake shop you can expect to pay anywhere from $75 to $150 per rotor and probably from $75 to $125 for pads per axle. Labor will run $100 to $150 per axle. Then there are brake fluid and brake hoses. You can probably save some money by buying your pads and rotors from someone like TireRack, but then the shop that installs them probably won't help you if you have any problems.
Hope this helps.