To supplement Mike's answer,
Cycles[{{3, 6}, {5, 7}, {8, 10}}]
is a representation of a permutation of 10 or more elements. You can get a more familiar form using
In[3]:= PermutationList@Cycles[{{3, 6}, {5, 7}, {8, 10}}]
Out[3]= {1, 2, 6, 4, 7, 3, 5, 10, 9, 8}
Sometimes it is necessary to specify the number of elements:
In[6]:= PermutationList[Cycles[{{1, 2}, {3, 7}, {5, 6}}], 10]
Out[6]= {2, 1, 7, 4, 6, 5, 3, 8, 9, 10}
Any permutation that can be constructed as some composition of these three permutations (the group generators) is an automorphism of the graph. In other words, renaming the graph vertices accordingly leaves the edge list of the graph unchanged.
This is the edge list of the original graph:
In[22]:= edges = EdgeList@PetersenGraph[]
Out[22]= {1 <-> 3, 1 <-> 4, 1 <-> 6, 2 <-> 4, 2 <-> 5, 2 <-> 7,
3 <-> 5, 3 <-> 8, 4 <-> 9, 5 <-> 10, 6 <-> 7, 6 <-> 10, 7 <-> 8,
8 <-> 9, 9 <-> 10}
This is what we get after renaming vertices according to the permutation above:
In[23]:= edges2 =
edges /. Thread[{1, 2, 3, 4, 5, 6, 7, 8, 9, 10} -> {2, 1, 7, 4, 6, 5,3, 8, 9, 10}]
Out[23]= {2 <-> 7, 2 <-> 4, 2 <-> 5, 1 <-> 4, 1 <-> 6, 1 <-> 3,
7 <-> 6, 7 <-> 8, 4 <-> 9, 6 <-> 10, 5 <-> 3, 5 <-> 10, 3 <-> 8,
8 <-> 9, 9 <-> 10}
Other than some reordering, these are the exact same edge lists:
In[24]:= Sort[Sort /@ edges]
Out[24]= {1 <-> 3, 1 <-> 4, 1 <-> 6, 2 <-> 4, 2 <-> 5, 2 <-> 7,
3 <-> 5, 3 <-> 8, 4 <-> 9, 5 <-> 10, 6 <-> 7, 6 <-> 10, 7 <-> 8,
8 <-> 9, 9 <-> 10}
In[25]:= Sort[Sort /@ edges2]
Out[25]= {1 <-> 3, 1 <-> 4, 1 <-> 6, 2 <-> 4, 2 <-> 5, 2 <-> 7,
3 <-> 5, 3 <-> 8, 4 <-> 9, 5 <-> 10, 6 <-> 7, 6 <-> 10, 7 <-> 8,
8 <-> 9, 9 <-> 10}
You can list all such permutations like this:
In[12]:= group = GraphAutomorphismGroup@PetersenGraph[];
In[13]:= GroupElements[group]
There are 120 in total for this graph.
In[14]:= GroupElements[group] // Length
Out[14]= 120