Well, seeing as I'm already going to lose $10,000 assuming I closed @ 95% of my asking price, do you really think I can afford to lower the price even more? If you answer "no", then you'd be correct
Renting out a house that you're underwater on and becoming a landlord as a last resort is not a way to "get on with your life". Short selling it, taking the hit to your credit (and getting the short sale approved by the bank so you walk away without owing any money) is the way to get out of it.
Not necessarily saying it's what I'd do, but if you really want to move on then that's your best option.
I have come across some good advice on getting it rented, and edro already touched on some of it. Put an ad up and state that it will be available for rent on a given day at a given time. Take calls and get people in a queue 15 minutes apart. E.g. say it's going to be available to rent at 1:00 PM. Schedule the first people at 1:00, the next people at 1:15, the next people at 1:30, etc. By that day you should have 20 people scheduled to show up. That way you give people a sense of urgency and you should end up with at least 3 definite "takers" (assuming you price the rent correctly... undershoot if necessary: enough to cover your mortgage + some cushion, but don't get greedy if you don't have a realtor or some other professional advising you on how to set the rent.... your goal is to get it rented to good solid renters and cover your expenses, not to maximize profit). Conditions are 2 months' rent up front as deposit, you need a check same day. Must pass a credit/background check and provide current/last landlord reference. Charge a $50 application fee and pay the $50 for a good background check, and call the current/last landlord right there while they're standing in front of you. Make all of this clear on the phone when you schedule them so that they won't come if they're scared of any of it. If they give you the slightest funny feeling in the pit of your stomach, simply move on to the next folks. You should be able to end up with a good, solid, dependable renter with one day's worth of work.
The key to this is to play the numbers game and to simply reject anyone who is going to be a waste of your time and/or money in the future. Anyone who balks at 2 months deposit is not worth your time. Anyone who balks at the background check or $50 app fee is not worth your time. There are plenty of good renters out there with good jobs and good references. Those are the people you want, not the people who will be calling you every month at the first of the month and saying they will be late by a few days. You are trying to reduce the headache in your life, not increase it! Don't let somebody pull at your heartstrings with a sob story. Trust me, you will be hearing sob stories every month until you have to evict them.
There should be a fairly standard lease form for your state that you can find online, through an attorney or realtor (and I think they have them for purchase at Office Depot too). In Texas the Texas Real Estate Commission publishes a standardized residential lease form.