Staking out the site for the paver surface gives you a clearer idea of how the shape will fit with the rest of the landscape. Outline the borders with ropes and adjust them as necessary. If your surface is rectangular, pin stakes in each corner and loop a string around each stake to create straight lines. Add 2 extra inches to each side for your edge restraints.
The purpose of the surface will determine the minimum depth for the foundation. The gravel foundation should be at least 6 inches deep to support foot traffic and 10 inches for a driveway. The total depth of the site should be equal to the gravel foundation plus 1 inch for the sand bed plus half the thickness of the pavers. This will allow the pavers to sit about 2 inches above ground level. Use an excavator machine or shovel to remove dirt, taking care to cut the walls straight. If the site is near the home, slope the bottom an eighth inch for every foot of length from the building so water can drain.
A gravel foundation is sturdy enough to prevent concrete pavers from sinking into the ground and flexible enough to prevent frost heave damage by absorbing ground tension. Use 3/4-inch gravel and pour in 2-inch layers at a time. Stabilize the rocks with a compactor machine or tamper between each layer. Irregular rocks snug against each other under pressure, allowing just enough space for water to drain.
A 1-inch layer of coarse, gritty sand provides traction beneath the pavers to keep them in place. Pour the sand over the gravel and screed it with a wood board. While not essential, installing edge restraints against the interior sides of the site locks the pavers in position. Use metal, wood or PVC edging and 9-inch nail spikes to secure them.