service broker with mirroring
There is nothing special about configuring Service Broker to work with mirroring.  Configure Service Broker, then enable mirroring.

Having said that, you'll need to test failover to ensure any clients accessing the Service Broker infrastructure, such as queues, are able to failover gracefully from primary to secondary.

I'd recommend building a test-network using Virtual Machines including a primary, a secondary, and a witness VM.  Restore a copy of the target database into the primary, and configure mirroring to see how it works.