Walk around the vehicle and note it's overall condition.
Check the tires for worn spots, cracked sidewalls and any bulging. Replace any bad tires. Check the spare for cracks as well. Check and adjust air pressure.
Check the wheel nuts for tightness. Very important!
Check under the hood.
If you didn't change the oil when it was parked, then it's a real good idea to do it now. Oil that sits in an engine will start to corrode the bearings. The moisture and contaminants in the oil change into an acid. Yuk.
Brake fluid is also susceptible to moisture. It will absorb water from the air if the cap is left off. The moisture will corrode the inside of the brake lines, master and wheel cylinders.
Keep the lid on the master cylinder (and top up bottle) unless you are checking the level. If it has never been changed, and the vehicle has sat for an extended period of time, any good mechanic can bleed the system and fill it up with fresh fluid.
Check the transmission fluid. Usually with the engine warm and running.
Read your manual.
Dark coloured or burnt smelling fluid may mean trouble. Check for leaks around the pan. Do you have an auxiliary or secondary cooler for the transmission?
Hows the power steering levels and hoses? Check the belts for cracks and wear.
Those new flat "serpentine" belts do the work of two or more belts that were on older vehicles. Check the ribbed underside for cracks or missing sections. Replace and keep a spare.
Check all of the hoses. Soft sections, leaky ends, worn areas. Replace them now. Not later on the side of the road. Are the clamps tight? Replace any that look weak.
How's the radiator look? Are there any leaks? Antifreeze is green or yellow.
Antifreeze is sweet tasting and very poisonous. Animals will drink it from the ground and die a very painful death. Clean it up!
Are the fins still in-between the horizontal tubes? If they are green and falling out, they can't cool your engine properly. Consider a new or rebuilt rad before your next long trip.
Battery acid is VERY CORROSIVE! Wear safety glasses while doing any work around an automotive battery.
Batteries that have sat over the winter may need some water and a charge. If the battery has removable caps, carefully pry them off with a screwdriver and check the levels. Newer batteries are sealed and cannot be checked or topped up. Always use clean water. Preferably distilled.
The terminals may be corroded and need cleaning. Auto parts stores sell a special round wire brush to clean them. If there is a lot of white powdery stuff around the top, carefully brush or hose it off. A mixture of water and baking soda (one teaspoon to a cup of water) brushed onto the terminals will neutralize the acid.
DON'T let in get into the battery. The terminals and cable ends must be clean in order to make a good connection.
Check all the lights. Turn signals, as well as "four-ways" for correct operation. Do the brake lights come on when the brake peddle is pushed? Reverse lights? Replace anything that doesn't work.
Are the mirrors and windows clean and secure?
Any good garage can do these checks if you're not comfortable with poking around under the hood.
These simple checks must be done for your safety and the safety of others you share the roads with.