ERP Software can be extremely expensive. There are so many different solutions depending on your size and volume..and technical requirements it will take a little bit of time researching.
Microsoft has some awesome solutions.
Your best bet is to align with a fulfillment center which already has ERP software in place, tell them what your goals are and they can help you achieve success.
Setting up and implementing warehouse and ERP software will also require a huge chunk of your time better spend elsewhere.
If you still want to bring everything in-house, you can get to know the systems and processes and have a better understanding of what you'll need.