How do I set up a mining pool server?
If you want to run your private pool with a minimal amount of extra configuration, run bitcoind with -server and some additional configuration for RPC commands. This would allow you to create a simple pool for your personal use.

However, are you sure your mining endeavours would be profitable? You'd better check my calculator website that I linked right there. You might find it not worth your time to even set this thing up unless you have some really good GPUs in those machines.