Most of the time a dealership has their vehicles listed on their website,somewhere on that listing is an e-mail addresse where you can ask for quote on the vehicle and that is a good way of getting a good price because the person who prices the vehicle this way is not on commission and does not care as much about the profit on the vehicle.
If this does not work look up the trade in value on the vehicle and that is usually close to what the dealership paid for the vehicle.Offer them a little over that price and see what they say.
GL