Certainly, you can do a self-service incorporation. But consider do-it-yourself legal kits might not be the most cost effective move. We are sensitive to the need of startups to save money, but remember that you get what you pay for.
There are many different types of business entities, each with their own advantages and disadvantages. Your selection of entity should be made with the advice of a professional to ensure that your objectives are met. Additionally, once a charter is issued, there is more paperwork to do, such as initial organizational meetings, drafting of operational documents (bylaws, operating agreements, regulations, etc.), governmental compliance, and business succession planning.
The consequences and costs of addressing legal mistakes are usually much greater than the cost of having hired a lawyer to do it right in the first place.