Here’s a video from Rainbird that covers installing an irrigation system.
https://www.rainbird.com/homeowners/sprinkler-system-installation-guide
Your system would require a water source, back flow preventer, control valves and the wiring from the control valves to your Rachio 3. All of this can be performed by a skilled DIYer. However, if you’re not comfortable doing it yourself you can always hire a professional. If you have other questions there are plenty of very knowledgable members in the Rachio Community.
Good luck with your project! 