The main reason to shoot JPEG is that you get more shots on a memory card and it's faster, both in camera and afterwards. If you shoot RAW files you have to then convert them to TIFF or JPEG on a PC before you can view or print them. If you have hundreds of images, this can take some time. If you know you have the correct exposure and white balance as well as the optimum camera set parameters, then a high quality JPEG will give you a print just as good as one from a converted RAW file, so you may as well shoot JPEG.
You shoot RAW when you expect to have to do some post exposure processing. If you're not sure about exposure or white balance, or if you want to maintain the maximum possible allowable post exposure processing, then you'll want to shoot RAW files, convert to 16-bit TIFF, do all your processing, then convert to 8-bit files for printing. You lose nothing by shooting RAW except for time and the number of images you can fit on a memory card.
Note that some cameras can store a JPEG image along with the RAW file. This is the best of both worlds, you have a JPEG image which you can quickly extract from the file, but you also have the RAW data which you can later convert and process if theres a problem with the JPEG. The disadvantage is, of course, that this takes up even more storage space. Many cameras also store a small "thumbnail" along with the RAW file which can be read and displayed quickly without having to do a full RAW conversion just to see what's in the file.