There's a $5000.00 guild start up fee. Here are the instructions
http://www.swtor.com/gamemanual/how-to-play/guilds
all the members of the group (min of 3 + yourself) will have to be there to start it up. If you need some cash, I can email it to you (just confirm your character name, and set up an evening when we want to meet, since I'm assuming this is going to be a republic group, on Coruscant).
The only real limit on f2p players is they can't setup a guild bank account.
Once we set up the guild we can simply invite our other toons to join.
Anyways, let me know when you guys want to meet and set this up, I'm in tight for time this weekend due to coaching and family obligations. Chances are, I'd join with my JC or my smuggler, though my JC is really armored up.