The package you must install is the "dhcrelay". The man page is here.
I will give my configuration as an example.
I have an client (Ubuntu), a AP (dhcp relay agent) and a dchp server.
Client(eht0)-----------(eth1)AP(eth0)-----------(eth0)Server
The server has the IP 192.168.2.102 and the AP 192.168.2.101 on the same subnet. The client and the AP do not have IP on the subnet connecting they.
So, the command is very simple.
dhcrelay -i eth1 -a 192.168.2.102
This will make the AP to listen his eth1 interface for a DHCP request and forward it to the server (192.168.2.102). Also note the option "-a". I put it there because I needed the dhcp option 82 to be appended in the request.
Hope it helps.
Best regards