How to get a divorce without going through the court?

My husband and I have been together for 3 years, but have only been married for 7 months. We have come to the mutual decision to get a divorce. We have no money to split, and we have openly agreed to have joint custody of our son. We have no idea how to go about getting this taken care of, and we really don’t want to have to go to court to get it done. Is there any way that we can just go to fill out a simple form and get divorced without any kind of hassle with court?