I know this may sound absolutely ridiculous, but take a week or two to just relax and do nothing. I can't even begin to tell you how rejuvenated I've felt after doing that. We spend so much of our day studying, working, learning, spending time with our significant other, etc. Sometimes, you just need to let that all go, sit in front of the TV with a box of cheez-its and just stare at the tube. trust me, it's worth it. could I do that all summer? no. But definitely try it for a week, just to unwind from the finals and stresses of undergrad. you deserve a break.
After that, I'd probably spend my time tying up any lose ends for dental school. Is my housing situation all squared away? Do I need to purchase anything for my new apartment, or do I need to finish filling out a financial aid form? Have I already bought my plane ticket? Have I transferred things in my name? The last thing you want is to start dental school, only to realize you didn't do X,Y, and Z, and then have to deal with that on top of everything else.
If everything is taken care of and I've sufficiently vegged out on the couch for long enough, I'd do as much fun stuff as possible. What interests you? What's one thing you've always wanted to do, but haven't yet? What will you probably not have time for in dental school? Do that. If you truly do have a passion for volunteering, then I'd say go for it. But do it because it's truly something YOU want to do, and not out of a sense of obligation (not saying you are, just sayin'). This, my friend, is your opportunity to be selfish. I'd probably spend as much time with my family and friends as possible, especially if I'm moving far away. I'd say to take this summer to do as many memorable things as you can and document everything. Take the summer to focus on you. You'll enter dental school happier, in a positive mood, and ready to take on the task at hand.