Usually about 6 - 8 months. It can be later, some bitches do not come into season until a year or more, but it is very unlikely to be before six months. Then they usually come in every six months as well, although some can go seven or eight months, with some bitches even being once year. If they come in less than 6 monthly then you would need to get them checked by the vet.
Look out for anything unusual about 8 or 9 weeks after the season, as she could have a phantom pregnancy (thinking she has been mated and got puppies) or could get pyometra, which is an infection they can sometimes get after a season.