See http://lavaan.ugent.be/tutorial/syntax2.html
I'm just copying from there, the following code is self-explanatory
# three-factor model
visual =~ x1 + x2 + x3
textual =~ x4 + x5 + x6
speed =~ NA*x7 + x8 + x9
# orthogonal factors
visual ~~ 0*speed
textual ~~ 0*speed
# fix variance of speed factor
speed ~~ 1*speed
Note that the fist loadings on each latent factor are, by default, fixed to 1 - if you want to estimate them, you would use something like NA*x7 as above. And fixing a covariance to zero is done with something like visual ~~ 0*speed
-- if you don't include this line, the covariances between latent variables are automatically included in the model.
The lavaan homepage is a very good source on lavaan.