You prepare for pavers similarly to concrete. Lay down 6 to 12" of compacted base, to 1" below the finish paver level. Compact as you would for concrete. Trowel the sand flat, and lay the pavers on it, tapping them tight against the existing drive or last row as you go. When you get to the edge, dig a small trench under the outside 1" or so, about 4" deep, and 4" wide. Pour mixed sackcrete into that trench, to about 1" up the edge of the last paver, to lock in the edge. Alternatively, buy the commercial edging strip and install per instructions. Pavers are an easy and good way to go, if they settle, you can pull them out and relevel with sand and relay them.
I am doing my entire driveway (1750 sf) with pavers at my new house I'm building. I really like paver, have done some large jobs (city streets, several blocks long) that are still in service and as good as the day they were placed 30 years ago.