I've done it myself 3 times (2 s-corps and an LLC). I did it 2 other times with partners where we had a lawyer handle it. I'd recommend a lawyer if you have multiple principals involved. My brother started his LLC through an accountant who handles his taxes. I've also been involved in starting 2 non-profit corporations which used a lawyer in one and an accountant in the other. I'd recommend either a lawyer or accountant for a non-profit since there's a lot more to getting recognized as a 501(c)(3) than incorporating (not that you asked but if anyone else is interested)
Taxes are a pain but I don't mind as long as I don't have employees. So I don't have an accountant now. In the 90's it wasn't so bad to handle the taxes (and unemployment insurance, etc) with employees (I had 5 employees at one point and still did it myself). But I looked at the laws/forms when I made my current LLC and decided there's no way I'll do it myself any more if I hire anyone. I actually would have hired someone a year ago but the hassle wasn't going to be worth the little extra money I might make - it would have been part of a longer-term growth pattern rather than to make money then and I'm close enough to retirement that I decided against that.
I'd avoid Legal Zoom. I got 90% through my LLC forms on Legal Zoom a couple of years ago before I realized that many of the forms were misleading. For example you don't need a registered agent (at least in my state I can do it myself as long as I have a postal address). Legal Zoom made it sound like I needed to pay them $60/year to get one or go find a lawyer myself. My state has a very good web site with all the forms I needed and explanations (pros/cons/etc of different methods/answers) were easy to find with google. The total cost was about 1/2 what legal zoom charged (or about 1/4 if I used their other services like a registered agent)
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