Should I change my own oil while my car is still under warranty?

Hey all! I'm a 20 y/o with a new to me 2013 Elantra GT and I want to get more handy with cars and mechanical stuff in general. I have friends that are a lot more mechanically inclined than I am and they are willing to help me. My question is since my car is still under warranty from the dealer, is it okay to do oil changes, and possibly other general maintenance, on my own and not at the dealer? I definitely don't want to do anything to void the warranty. Thanks in advance! (and sorry for the wall of text, I'm on mobile.)