I refinanced a year ago and it helped my cash flow and debt consolidation significantly. For me, it was a no-brainer.

Everyone's situation is unique, but I would say that if you plan to be in that house indefinitely, or at least for a few years, then you will more than recoup your closing costs and be locked in at historically low interest rates.
"The Universe is the game of the self, which plays hide and seek forever and ever" - Alan Watts