To establish HR policies, start by assessing current practices, researching best practices, drafting policies, consulting stakeholders, and then implementing the policies. For PF registration, register with the Employees' Provident Fund Organisation (EPFO) online. For ESIC registration, register on the ESIC portal with employee and company details. Lastly, for MLWF registration, register with the Maharashtra Labour Welfare Board following their guidelines. Gather all necessary documents and information for each registration process and implement them systematically to ensure compliance.