The installation guide is great! I have never seen such documented step by step guide. If you follow the guide you will have a successful installation of the server.
The most current version of the guide is available from Microsoft:
Since we have small number of users I have installed the single server version of Team Foundation Server. You can get help on deciding how to deploy Team Foundation Server here: http://msdn.microsoft.com/vstudio/teamsystem/team/quickstarts/tfs_plan/