I did my first starter on my third ever batch a couple weeks ago, which seems to have worked out pretty well and used very little extra equipment.
48 hours in advance (in the early evening), I boiled up just under a half-gallon of water with just under a half-pound of DME. Cooled to pitching temperature, poured about 1.75 qts of it into a half-gallon sanitized re-usable glass milk jug, and pitched the yeast. I put a piece of plastic wrap over the mouth of the jug and capped it. For the rest of the evening I shook it vigorously as often as I could stand it. Since initially the yeast are in the growth phase, little CO2 is produced and little pressure builds up, though I did uncap it before shaking each time to let out any CO2 and re-introduce O2.
Before going to bed, I removed the cap and fitted an airlock and stopper (which happened to require the same size as with my fermenter).
The next day through the morning of the day after, every once in a while, I would: wash my hands well, remove the stopper with one hand (careful not to touch the jug's mouth or the lower portion of the stopper) and with the other hand lay a fresh piece of plastic wrap and the cap on the jug and shake until the sediment at the bottom re-suspended. (BE CAREFUL to hold the cap tight while shaking and slowly and carefully remove the cap as pressure will build up, especially as more time has passed. You'll likely need to remove the cap, vent, re-cap, and shake several times before the sediment is completely re-suspended without building up too much pressure at a time.) (Shaking the starter as much as possible drives off CO2 and re-introduces O2, which keeps the yeast in the growth phase, rather than the attenuation phase.)
On the morning of brew-day, after giving it one last shake, I kept the stopper out, fitted a piece of plastic wrap over the jug mouth, and placed it in the fridge to allow the yeast to settle out.
When ready to pitch, I took the jug out of the fridge, poured off most of the starter wort (tasted it to check for any signs of infection--none that I could tell), swirled the remaining bit to get the yeast cake liquid (next time, I'm going to use jmo88's tip above), and pitched into the fermenter.
I pitched in the late evening and airlock activity started by the time I went to bed and was going strong for the next few days. I'm really hoping I get a fuller attenuation than my first two batches.