This is appropriate for 99% of your daemons. Create a text file. Put these two lines at the top.
# chkconfig: 2345 90 10 # description: my_service - does this and that
Then add the command required to start the service.
/path/to/program
Save the file to my_service. Run the following commands.
mv my_service /etc/init.d sudo /sbin/chkconfig --add my_service
If the chkconfig command is not found, first run this:
yum install chkconfig