Preparation is key!
I've never had a disaster (don't mean to sound smug) because I've prepped my skin before hand.
Skin needs to be exfoliated and moisturised. If you are planning to use fake tan for the first time and don't pay any attention to your legs previously then you will end up with streaks. I still suggest a week of prepping your skin, hair removal, exfoliation and moisturise, moisturise, moisturise so that your legs are in tip top condition and then apply the fake tan.
If doing it for the first time, make sure you apply properly and allow time to dry before going to bed.
Another suggestion would be to not use fake tan in its entirety but to just add a bit to your body moisturiser and apply daily.
It's like apply spray paint on a car to a panel that hasn't been prepped and primed, you will get a bad finish!