You do not have to hire an attorney. Just go visit the local city/twp office and speak to the building dept. Get the necessary forms and fill them out asking for a variance in setback. Inform your neighbors what you want to do and if possible, get them to write you an approval for variance letter (Better yet, have one pre-written and just have them sign it - include their name, address and signature spaces.) You will need to provide a more detailed drawing with the property outline and distances including how much "over" you may infringe on the setback. The Building inspector can assist you on the details. Then submit it to the Planning/Zoning Department for approval. There may be a filing fee. Most folks in our area have to appeal the Planning department's first decision to see approval at a Zoning Board of Appeals meeting.

FYI - it can take up to 3 months to get approval.