In my experience, the best way to create service dependencies, without rummaging in the registry (something that is not secure, safe, or easily scriptable == repeatable) is to use SC.exe - the service control utility packaged with every Windows version since Win2003.

You can open a command window and type sc to get the full help, but the gist of it is:

sc create newservice binpath= c:\nt\system32\newserv.exe type= own start= auto depend ="netbios"


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You have to use the registry editor (as far as I know) to make the service depend on the other server.  Locate the  dependent  service in HKLM\SYSTEM\CurrentControlSet\services, and add an REG_MULTI_SZ value called DependOnService.  Put the service name (not the display name, but the same name as it's reg key) as a value.
When you reboot now, Windows will only start your dependent service
after the service you made it depend on starts.  Likewise, if the
service it depends on fails to start, your dependent service will not
start either.