There are different types of charitable trusts, such as charitable remainder trusts and charitable lead trusts. It depends on what you are trying to accomplish as different charitable trusts have different tax consequences and different benefits for the gift giver and the gift recipient.
Your choice of the word incorporate is confusing to me. Charitable trusts are not incorporated, but rather they are drafted (usually by an attorney)and then executed by the gift giver.
You should consult an attorney, or sometimes the charitable organization can help you.
Good luck.