What rates should I charge for my delivery business?

I would like to start my own errand running/delivery business. I will be using my own 4 door economy car so I won't be able to deliver anything super large.
What should I charge people for this? Of course I know I should charge less than any of the regular commercial business' out there. I want to make it very affordable so I can attract customers but would like to make at least a small profit.
Any thoughts on this would be greatly appreciated. Thanks so much in advance.

You basically answered your own question.

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I know I should charge less than any of the regular commercial business' out there.

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You can contact several companies and find out what they charge... Can use specific examples. A one way trip from my house to downtown Dallas - paid parking - go to the 30th floor of a large building could easily take an hour if the traffic is bad...