Use the Look at command (in the View palette) to center the view on the picked object or group of objects, or on the entire model.
When a construction plane is selected in the Perspective window, the Look at tool orients the view flush to the plane (that is, the view vector becomes perpendicular to the plane).
If the Include Symmetric Objects option is ON, symmetric instances of objects (on layers with symmetry planes) are included in the centered view.