As phonon mentioned, Clerky is a service that can help with incorporation.
Another service that is more comprehensive would be Stripe Atlas, which helps with everything from incorporation to setting up a SVB bank account to helping with tax issues and AWS credits. You also get access to the Atlas Forum and network of founders and advisors. https://stripe.com/atlas
EDIT/UPDATE: Worth mentioning that Clerky offers certain legal services beyond incorporation (e.g., hiring/on-boarding and fundraising). Didn't mean to imply that incorporation is their sole product, but rather was speaking w.r.t. the topic of basic startup mechanics mentioned by the parent. https://www.clerky.com/
I highly recommend services like this. We were pressured to work with a high powered SF law firm at the accelerator I was in.
It was a total waste of a huge amount of money. ($800 an hour)
They added very little value. On more than one occasion I had to request corrections after the "final" documents were out for signature.
Usually having to remove data that was obviously left over from the last company they used the word doc template on.
You can probably fill out templates with a service for a lot less than $800 an hour.
And I don't believe for a minute that it took 5 hours of $800 an hour labor to fill out those templates not do I even believe the actual $800 an hour guy did more than quickly glance at the first page of the doc.
And while I'm ranting, what a stupid and completely broken system legal documents are. They would email us 500 pages of documents and then we would print the last page that was nothing but signatures. Scan it, and send it back where it is then appended to the document they emailed us. OR any freaking document they want.
Another service that is more comprehensive would be Stripe Atlas, which helps with everything from incorporation to setting up a SVB bank account to helping with tax issues and AWS credits. You also get access to the Atlas Forum and network of founders and advisors. https://stripe.com/atlas
If you're not into the service, they still have a nice guide on the process here - https://stripe.com/atlas/guide
EDIT/UPDATE: Worth mentioning that Clerky offers certain legal services beyond incorporation (e.g., hiring/on-boarding and fundraising). Didn't mean to imply that incorporation is their sole product, but rather was speaking w.r.t. the topic of basic startup mechanics mentioned by the parent. https://www.clerky.com/