I know of two ways to georeference a map for free:
1. On your computer using QGIS Open source software.
There is a lot of information about
QGIS, including:
QGIS is very powerful and has many functions besides georeferencing but may be daunting for someone just wanting something simple.
2. Online using the free
Map Warper Georeferencing application from Tim Waters
There is a brief
Map Warper Guide, but it is a fairly simple process. I have not tried this fully yet.
Bear in mind that once a map has been georeferenced it still needs to be
tiled before uploading to the web for use. I have MapTiler software that can do this.