Setup:
Principal: Backup database FULL recovery
Mirror: restore database with NORecovery mode
Mirror : restore all transaction logs
Principal : Right click database and click mirroring 
Principal : add Principal DNS name and Mirror DNS name
Principal: click start mirroring
Troubleshooting:
- GRANT CONNECT ON ENDPOINT::Mirroring TO public
 - Turn off Windows firewall (normal port is 5022)
 - Delete endpoints (the end points are on both Principal and Mirror)
 - use IP addresses instead of FQDN
 - Add user to Sysadmin Server Role