I never really do link exchanges unless they are part of a blog post. Also, I don't link to sub-par websites or unrelated websites. It's okay to link to another site and they link to you. One example is I have my BBB Membership page point to my site and I point many links from my site to that single BBB Page.
Look at the site you are going to link to and ask yourself, "Can this potentially cause a problem in the future? What's the risk?" I have turned down MANY sites wanting to link exchange, but if they are willing to write a high quality guest blog post, then I'm fine with it whether I get a back link from their site or not.