msteiner,
You do not tell us what your distro is, and as they often do things differently, that makes it difficult for us to offer tailored advice.
Many distros have a graphical setup for "system services", where you can start them, stop them, and set them to start at boot, or not.
If you want to do it from the command line, learn about the files in /etc/rc?.d/ /etc/init.d/ and the contents of /etc/rc.local
Just reading some of those files should give you the idea.
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