I have answered this before here
If you are using Jessie then there should already be an existing folder for LX-Session. The folder is the following:
/home/pi/.config/lxsession
if you are using an older version then you can create it using:
mkdir -p /home/pi/.config/lxsession
Now, you can create a file :
nano /home/pi/.config/lxsession/autostart
add the tag in the file of your browser:
@firefox-esr (@iceweasel) # whichever you are using
press CTRL+O and CTRL+X
then reboot your Pi:
sudo reboot
This should get your browser working on reboot of Pi.
Notes:
try installing the firefox-esr using:
sudo apt-get install firefox-esr
Try finding autostart file in the lxsession/ folder,
for some Pis it is in
~/.config/lxsession/LXDE-pi/
or
~/.config/lxsession/LXDE/
To have FireFox perform a clean start up. Need to go to about:config and search for exit then toggle " browser.helperApps.deleteTempFileOnExit " to false on reboot FireFox will open clean.