I am not sure exactly what you want to do, but I suspect systemd is what you want
Helpful links:
and
SysVinit to Systemd Cheatsheet - FedoraProject
Synopsis:
basically you make 'services' (text files that specify the program(s) you want to run) and put them in the '/lib/systemd/system/' folder
then you run 'systemctl enable myservice' to enable the service at bootime, there are all sorts of parameters to restart the service if the process dies, or start the service before or after network interfaces are brought up.
Edit: I am not sure why my service file was auto renamed to .zip (either the forum auto zips files, or you will have to rename the file to my-service.service)