There was a thread on this board a while back. The author was "struggling to get by on a $300k combined household income" in the NY metro area.
Point is, $100k is ok if you're single and don't live in NYC, Boston or SF.
If you have a wife, double that. If she works, too, $200k combined works fine.
Add roughly $50k per child, unless wife stays home.
By the way, in Europe a family of 4 can live off $50k a year, EASILY.