Stick to the same rules as a stand-alone novel, with a little leeway. You want the scenes to be clear and understandable by anyone who picks the book up, but you don't need to go deep into backstory or description if it's something you've established. Just use whatever details and history are needed to understand what's going on. If there was a war, let them know, but they don't need a mini-synoppisis of book one. Treat the first book like character backstory.
Tamora Piece does this well in her books actually. I picked up "First Test" a few weeks back, and she kept talking about the "Immortal Wars" like I should know about it. It didn't make the story less clear for me, but it did make me think there was another series I'd missed. Sure enough, there was a whole quartet, plus another quarter that took place before that, all in the same world. She referenced all eight of them in "First Test," and now I'm going back to catch up before I move on the new series. I don't need to read them to understand the story, but I think it'll be more fun to know the history.
Or, you can do what Holly Lisele did in her sacred Text series. She added a synopsis of previous books in the opening pages. I found this quite helpful to refresh my memory before reading the next book. (This would be a publishing choice though, not a writing one)