Lots of progs out there for this purpose, Illustrator, Corel....that's all I'm familiar with, but I know there are others.
Frostillicus has a tutorial on how to do this. I believe it's on his site or Mahuti's site....check to find it, download it, read it, do it to it.
Tracing programs that I've tried SUCKED big time. Trying one of those first, then going through Frosty's tutorial and seeing his theory behind tracing will make it apparent why you want to do this yourself, rather than relying on a program to do it for you.