Lava rock is fine and you can find your own wood, look for hardwood type woods that have been dead for a long time and are free of rotting wood.
In my experience as long as the wood is completely dried out it's fairly safe to give it a quick rinse and scrub then put straight into the tank.
However if you want to be extra careful you can sterilize the wood. For smaller peices you can clean them by boiling in a large pot, followed by scrubbing off any loose material. Larger peices can be treated by soaking them in a bucket of chlorinated water for an hour or so then scrubbing off loose material, they will need to be allowed to dry out for a week or so following this.
Depending on the size and type of the wood and how long it has been exposed to the elements it can potentially turn your water quite dark for several months as the tannins leach out. If this effect is undesirable you can let the wood age in a bucket of water, changing the water every few weeks until it stays reasonably clear (this can sometimes take 6 months or more, depending on the type of wood).