You will have to join either grading company or the ANA before you can submit. Your last option would to use a dealer who is already a member, but he will charge you a service fee as well.
Sometime they will have a promotion on quantity, or types of coins, or a particular service they offer. You can figure about $30 per coin for normal handling. Dealers will usually wait until they have enough pieces to send in at once. It saves them paperwork and time or they take advantage of a promotion. You may need to add insurance and shipping costs since they are a pass-through. Some dealers have this already built into their service charge provided your piece follows the norm.