You can do it yourself easily at the FMCSA website. There is a $300 non-refundable fee, but doing it yourself saves you the processing fee these companies charge. You will also have to pick a process agent, they usually charge a one time fee around $50-$75. The FMCSA website has a list of approved process agents and their application process is a step by step, questionnaire/interview style application, real easy. www.fmcsa.dot.gov