Setup TFS for AX 2009

Can anyone tell me how to setup TFS for AX 2009 environment, this is for development purpose

How many servers are required and it’s structure, we are 5 developers here.

Only 1 server is needed, as you want to have only 1 code depot, right? Check out which version of TFS is compatible with AX 2009. Install the TFS on a box/ add the users on TFS / create the project on TFS / add the model(s) you want to trace code change to TFS/ ask the end users to connect to TFS and set up local code repository for their own / pull the code from depot. There could be various details to solve along the way, though. There are white papers / posts online you can check out.