Basically, if you have live plants, never change the water 100%. If it's the whole nine yards (Naturally planted tank (NPT), filtered, tons of plants) weekly 20-40% water changes (WC) and every two weeks a gravel vacuuming. If you have no live plants (filter or not) you should do weekly gravel vacuuming and 30-50% WC. A more experienced member can tell you if you ever need to do 100% changes on a 10g, but I wouldn't suggest it, as it ruins the cycle. I've sadly had to do a few 100% changes after trips and redecorating and such, and let me tell you, it SUCKS.
These are my ten gallons (10g's) :
And to not disturb plants, put them as far into the gravel as physically possible and get a siphon. They can be expensive or cheap depending on where you go, and there are videos on Youtube about how to use them.