Apple started in Steve Jobs garage
Facebook a door room.
It was actually Hewlitt Packard that started in a garage. Apple had a huge IPO, backed by institutions. Facebook will also IPO at some point. But note that both actually took the trouble to get a successful business up and running before they went public.
And before you say it, should you be considering it, Apple was not "once a penny stock". Nor was MSFT, one of the examples so often adduced by people who don't know how to read split-adjusted charts.