Not a banker, so please don't print this and take it to your banker.
I do not believe there is such a thing as a "free" re-fi. As in, there is no such way to do this where you simply reduce your interest rate and take off from where your balance currently sits. They're always going to get you somewhere. Closing costs are often lumped into the loan balance and if they're not, you're probably not getting the absolute best rate you can get or you're paying them out of pocket.
You'll need to calculate a break-even point, usually in months/years. At some point you will cross that threshold where the re-fi is saving you money every month. The threshold is determined by your situation and options. Given the current rates and what your current rate is, that point may be very near...but it isn't 100% free.
That's not to say that it isn't a good idea to do. If you're planning on being in your house for a long time and it's going to save you money, do it. But it isn't a straight-up no-brainer.