My husband and I are both lawyers and we are FINALLY setting up trusts, wills, etc. We don't do this sort of law, so it wouldn't have made sense for us to do it ourselves, but I really can't believe we waited this long. We both mid to late 40's.

If your situation is fairly simple and you have no dependents, I don't see why you couldn't do it yourself online or with a Nolo type book.