The 4s orbital is lower in energy than the 3d orbitals, so it will fill up before the 3d orbitals. The difference in energy between the 4s and 3d orbitals, however, which will be important to take into account later. Therefore, the order of filling orbitals is:
1s, 2s, 2p, 3s, 3p, 4s, 3d, 4p, etc.
Based on this principle, we would expect Cr to have the electron configuration [Ar]4s23d4. However, shells that are exactly half filled are more stable. Therefore, even though it seems like it would cost energy to promote a 4s electron to a 3d orbital, the chromium atom gains more stability from having a half filled set of d orbitals than the stability it loses from promoting an electron from the 4s to a 3d orbital. A similar phenomenon is seen with copper. Copper has an electron of [Ar]4s13d10 instead of [Ar]4s23d9 because the gain in stability from filling the d orbitals makes up for the energy penalty of promoting a 4s electron to a 3d orbital.