My oldest daughter starts college this fall, actually in about 3 weeks /w3tcompact/icons/sad.gif. The advice we got from a number of people, including the financial aid officer at her college, was to go to the <A target="_blank" HREF=http://www.fafsa.ed.gov/>FAFSA</A> web site and fill in the information during January (after you and she have completed your federal tax returns) of the year your daughter will start college. Once this is complete (the form is filled in by the student), this information, which includes your income and debt information as well as your daughters', will be shared with whichever colleges and universities you specify (up to six if I remember right) as well as the federal dept of education and your state dept of education. You will receive information back, either in the mail or via email about which grants, loans, etc. you are elilgible for. If you qualify, they will automatically appear on the tuition bill as a credit. That's all you have to do. Their opinion of the outfits that purport to offer financail aid assistance is they are simply there to separate you from your money and they do not do any more than assist you with filling in the FAFSA form, which is easy anyway, if you have yours and your daughters tax return in front of you.
If you have any questions, just ask. We went through this process earlier this year.