You can sort it yourself but not always as cheap and easy as it may seem - to get an idea of starting point measurements then I find these two sites pretty good:-
http://www.prodigalchild.net/Bicycle6.htm
http://www.competitivecyclist.com/za/CCY?PAGE=FIT_CALCULATOR_INTRO&INTRO_LINK=NOREDIR
The first gives you ideas around your height, footsize and inside leg, the second really needs a friend to help with the measurements and then gives a table of 3 fit setups. They are starting points and further tweaking may be required, personally I'd not assume anything until you've tried some variation, certainly not around saddles. The problem is all the bits interlink so each adjustment influences other parts, the order I'd follow would be:-
1. saddle - height, setback and tilt - height is the easiest for me to do, use the rough guide of leg straight when heel of shoe is on pedal extended to furthest point. Can be tweaked further, I like my saddle slightly lower than the highest point at which I can put it without my hips rocking while pedalling. Saddle setback is trickier as various amounts can feel fine for shorter distances, I've ended up using the middle part of the overall range suggested by the Competitive Cyclist table. Measuring setback is easy, stand bike with back wheel against a vertical wall and measure from wall to saddle nose and wall to BB centre, difference is setback. tilt I'd use a spirit level and set flat until all else has been tried.
2. once the saddle is approx where you believe it should be then look at reach/drop to bars and pay close attention to the angle of your wrists in your regular riding position. Also imagine try bending from the waist and you should find that your bum moves back as you bend forward. You want to try for balance around that pivot point, bars too close/high can be more uncomfortable than too far/low. With the bars too near/high I find that my upper body wants to be lower/further forward so I'm constantly forcing it upwards/backwards via hands and arms. It's possible to diagnose this as too much weight on hands and actually move bars even higher/closer when the reversewould alleviate the problem. For the tilt of the bars, and positioning of levers/hoods, it's more trial and error I'm afraid, with each other change again affecting this. My goal is to keep my wrist as natural as possible on the hoods, main ride position, and accept what that does for other ride positions.
It comes down to how much you want to learn, how willing you are to tinker and it can cost if you make errors and end up buying multiple stems, bars, saddles, etc. I like working it out for myself but I can see the attraction, and possible cost saving, of going for a proper bike fit.