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Create the appropriate VPC that your application is going to live in. Create subnets for each availability zone you want to use.
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Create VPC security group(s) for your auto-scaling instances. For example, if you're going to auto-scale web servers, create a "web" VPC security group.
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Go into AWS console and create an ELB. Easy wizard. Select HTTP and (if needed) HTTPS. Make sure it's associated with the VPC you created in step 1.
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Create an auto-scaling launch configuration from the CLI. The launch configuration has the AMI, size, and security group from step #2. The security group must be by ID not name ("sg-12345"):
as-create-launch-config web --image-id ami-2e31bf1e --instance-type m1.medium \
-g sg-7619041a --key root