Derek, it is not that expensive. Take a look here:
LegalZoom: Online Legal Document Services: LLC,Divorce,Wills,Incorporation & More
You will save quite a good bit of money using the above, and only 3 steps.
I suggest you also do a bit of homework as well as to what state to incorporate in a well (they vary greatly). Dont make a choice purely on price, but pick a state that is advantagous to your company like for example:
Gambling (nevada or texas would be best due to taxes being really low)
Florida (best for properties etc)
I am sure you get the idea.....it will take a week or two to figure it all out. It is however worth it in the long run.