Most of the Graduate Fitness programs will give a more specific recommendation as to how long to rest between sets.
Like recommended reps and sets…When it comes to rest periods between sets there is no magic number.
You will want to wait long enough between each set to apply maximum effort again, without waiting around all day in the Gym.
Typically though, I will explain the following as a general rule of thumb
“The higher the rep range, the lower the rest period.”
For most programs I find the sweet spot to be 1-2 minute rest period for all working sets taken close to Failure.
Warm-up sets do not require as long a rest period as Working Sets.