When it comes to founding a company the author overcomplicates things, however. This is OK when you want to study the process, or want to become an expert in this and maybe make a business out of it.
If you just want a company get started, just buy a ready made one. There are specialized lawyers that always keep a pool of freshly founded companies to sell - exactly for that purpose. These companies are brand new, usually just a couple of weeks old and have no significant history. They have generic names and you can decide on a proper name later.
If you don't have anyone to advise you and insist finding a suitable lawyer on your own: Go to Germany's central company register (Handelsregister) and research startups in your field. The lawyers and law firms specialized in selling new companies will stick out pretty quickly to you.