There are a few Topics here debating the proper procedure/pattern. (see SIMILAR THREADS section at the bottom of the page) The argument seems to consist of: same side or cross a pair of tires?
The Owners Manual (the 600-page one) surely has a diagram. Our '06's manual does. (Not the 200-page Quick Guide you got with the car.)
The important thing, is to do it on a regular basis (as, when the Maintenance Minder indicates a rotation).