How should we incorporate our startup?

Hi! We are a small team of MEMS engineers based in Austin, TX. We are planning to start a company focusing on smart systems tech. While we already have an early prototype of our product based on grad-work we did together at the university, and there are a few investors who have shown some interest, we have some trouble making the first steps. We would like to know, what the easiest way is to incorporate and which type of company would be the best for us. Does this necessarily require legal advice, or can we maybe take care of the initial hurdles ourselves? Thank you for your help! Brandon