This it time for you to refinance your mortgage? The answer to that question is up to you.
Don't the savings in mortgage payments justify the additional closing cost you will have to pay? If you're able to save 80-100 dollars per month and it only cost a couple of thousand to refinance, then it will take you less than 2 years to break-even.
Is the interest rate at least 1% lower than your current? If so they you can save a lot of money on your mortgage each month.
Is now a good time to roll in some other debts? If yes, then go ahead and save some money by rolling high interest debt into a lower mortgage.
This article contains more info on when to refinance.