You can get a free Team Foundation Service account for teams of up to 5 users, all you need to do is sign up for an account and your ready to go straight away

http://tfs.visualstudio.com/en-us/

The benefits of using the cloud based Team Foundation Service are:

• it’s ready to go straight away
• it’s accessible from anywhere
• there’s no hardware infrastructure to manage
• can use existing tools such as Visual Studio
• source control
• manage your code online from anywhere
• continuous unit testing
• manage work items and bugs
• plan projects
• collaborate with your team

If you want on-site Team Foundation capability you could implement Team Foundation Server 2012 Express which is free to use for teams of upto 5 users – see my previous article on this