No Cost Way
Unless your family situation is very complicated, for most families, you could create a will cost free. For example, you can use willing.com to create a basic will FREE. Although more advanced version will cost you money.
Low Cost Way
Instead of hiring an expensive lawyer to draft your will, you could do it yourself by using legal sites such as Nolo and LegalZoom to create a will. For example, Nolo's most popular WillMaker just had a 2016 Edition available.
Other than Will, what other simple yet powerful action you should take as part of legacy planning? Get transfer on death done!