Help with estate planning

I could really use some help with estate planning. I just don’t know how to do this, and I want to make sure that the most money possible ends up going to my heirs. I don’t want them to have to pay a lot of taxes or go through a long probate process in order to get their inheritance. A friend of mine recommended I go to www.dvanarelli.com to check out the lawyer they used. He is located in New Jersey not too far from where I live, so I am thinking that it should work out pretty well for me.