The pair signed an agreement spelling out their goals, including promises to try to avoid courtroom clashes and to keep their children's interests at the forefront, say the papers filed in San Francisco Superior Court.
"We will strive to be honest, cooperative and respectful as we work in this process to achieve the future well being of our families," says the agreement. "We commit ourselves to the collaborative law process and agree to seek a positive way to resolve our differences justly and equitably."
In a television interview, Williams underscored his desire to proceed in a civil manner.
"I'm lucky, you know, with someone like Marsha, and we have amazing kids and it's not a slash and burn," the comedian tells Ellen DeGeneres on a visit to her show Tuesday. "I think a lot of times divorce can be like circumcision with a weed whacker," he continues, "But the idea that it's going with love, I think, is important. And for me it's been ... a good thing."
Responded DeGeneres: "I'm happy that you're happy, and that's the way to do it."
Williams, 56, and Garces, 51, filed for divorce in March after 19 years of marriage citing irreconcilable differences. The couple have two children – Zelda, 18, and Cody, 16.
Recently, Zelda told PEOPLE, "I just want my parents to be happy."