Lawyers can help you incorporate or if you are adventerious try
www.legalzoom.com also have a lawyer draft up a partnership agreement. The agreement should dicttate who does what, how each will be compensated and how dividends will be split. Also devise an exit strategy on what will happen if one partner wants to back out of the partnership. It's all going to cost you about $1000 ($500 for inc and $500 for agreement), maybe more.
After you have got that done consider your startup costs and make your new corporation a low interest cash loan to cover the costs.
Is licensing required? Ask your local lbuilding department, they will help you.
Is insurance required? I'd be suprised if not. Call a few local agents.
Also remember that running a business often times has very little to do with the trade you are working in. It takes BUSINESS skills to run a business, being the worlds best craftsman doesn't qualify you to run a business; though if you have both you should do very very well.
Be prepared for paper work paper work paper work paper work paper work paper work paper work paper work paper work paper work. Did I say peper work?
The best advice I can give is to hire an account you can really trust who has experience with other contractors.