One great place to start on your worker cooperative journey is to check out the monthly webinar hosted by the US Federation of Worker Cooperatives. They also have resources on their website that will walk you through the different steps to forming a worker cooperative.
If you are based in the Madison, WI area, check out the Madison Cooperative Development Coalition's "Start a Co-op" page. They have educational material available, as well as funding to help get you started, and their staff can help walk you through the process of starting your worker cooperative.