It's been a few years since I was in the locksmith biz, but we used to rekey auto locks . Trouble is that auto locks weren't really designed to be rekeyed, as house locks are.
Best bet is to call around and find a locksmith in your area that (1) does automotive locks, and (2) has the proper kit for your specific vehicle. If you can find one, they can either rekey the existing cylinders, or order a set of "O-bitted" cylinders to fit your car, and put in whatever tumblers fit your existing key.
As for the cost, it will vary according to how much of the swap you do yourself. If you pull the cylinders and carry them to the shop, you will save a trip charge and labor. If you buy a set and have them matched, you can carry them to the car and replace them at your own leisure.
It mostly depends on how good/confident you are removing door panels, disconnecting linkage, etc.
You didn't mention what kind of car it is, which will make a big difference. Some makes are MUCH easier to do than others. A lot of Fords can actually be done without removing the panel. Porsches and Volvos are the most difficult. Most makes fall somewhere in between.
Get out the yellow pages, and start calling around. Good Luck!