Fieldset for Forms (aka DisplayGroup) the FormViewHelper is for my needs, you may need to change it.

1.DisplayGroup.php

<?php
namespace cwdAdmin\Form;

/**
 * DisplayGroup
 *
 * @category cwdAdmin
 * @package CWD
 * @subpackage Form
 *            
 */
class DisplayGroup
{

    /**
     *
     * @var array of Elements in this displaygroup
     */
    protected $elements = array();

    /**
     *
     * @var label for displaygroup
     */
    protected $label = null;

    /**
     *
     * @var id of displaygroup
     */
    protected $id = null;

    /**
     * 
     * @param string $id
     * @param string $label
     */
    public function __construct($id, $label)
    {
        $this->setId($id);
        $this->setLabel($label);
    }
    
    /**
     *
     * @return the $elements
     */
    public function getElements ()
    {
        return $this->elements;
    }
    
    /**
     * Add Element (by id) to this displayGroup
     * @param string $element
     * @return \cwdAdmin\Form\DisplayGroup
     */
    public function add($element)
    {
        $this->elements[] = $element;
        return $this;
    }

    /**
     *
     * @return the $label
     */
    public function getLabel ()
    {
        return $this->label;
    }

    /**
     *
     * @return the $id
     */
    public function getId ()
    {
        return $this->id;
    }

    /**
     * set Elements
     *
     * @param array $elements            
     * @return \cwdAdmin\Form\DisplayGroup
     */
    public function setElements ($elements)
    {
        $this->elements = $elements;
        return $this;
    }

    /**
     * Set Label
     *
     * @param string $label            
     * @return \cwdAdmin\Form\DisplayGroup
     */
    public function setLabel ($label)
    {
        $this->label = $label;
        return $this;
    }

    /**
     * set ID
     *
     * @param string $id            
     * @return \cwdAdmin\Form\DisplayGroup
     */
    public function setId ($id)
    {
        $this->id = $id;
        return $this;
    }
}

2.Form.php

<?php
namespace cwdAdmin\Form;

use Zend\Form\Form as ZendForm;

/**
 * Form
 *
 * @category   cwdAdmin
 * @package    CWD
 * @subpackage Form
 **/
abstract class Form extends ZendForm
{


    /**
     * @var array;
     */
    protected $displaygroup = array();



    /**
     * Add DisplayGroup to this Form
     * @param DisplayGroup $dg
     * @return \cwdAdmin\Form\Form
     */
    public function addDisplayGroup(DisplayGroup $dg)
    {
        $this->displaygroup[] = $dg;
        return $this;
    }

    /**
     * Get Displaygroups
     * @return array
     */
    public function getDisplayGroups()
    {
        return $this->displaygroup;
    }

}

3.FormViewHelper.php

<?php
/**
 * cwdAdmin - Zend Framwork 2 Admin Template
 *
 * @author        Ludwig Ruderstaller
 * @copyright     Copyright (c)2011 CWD - Customized Web Development. (http://www.cwd.at)
 * @category      CWD
 * @license       http://framework.zend.com/license/new-bsd     New BSD License
 *
 */
namespace cwdAdmin\View\Helper;

use cwdAdmin\Form\Footer;
use Zend\Form\ElementInterface;
use Zend\Form\FieldsetInterface;
use Zend\View\Helper\AbstractHelper;
use cwdAdmin\Form\FormInterface;

/**
 * Form
 *
 * @category   cwdAdmin
 * @package    CWD
 * @subpackage ViewHelper
 **/
class Form extends AbstractHelper
{

    /**
     * @var FormElement
     */
    protected $elementHelper;

    protected $rendered = array();

    /**
     * Form
     * @param FormInterface $form
     * @return string
     */
    public function __invoke(FormInterface $form)
    {
        #echo "Form hat ";
        #echo count($form->getElements());
        #echo " elemente<br /><br />";

        $form->setAttribute('enctype', 'multipart/form-data');
        $html = $this->getView()->form()->openTag($form);

        if (count ($form->getDisplayGroups()) > 0) {
            foreach ($form->getDisplayGroups() as $displayGroup) {
                 $elements = $displayGroup->getElements();

                 $html .= sprintf('<fieldset class="fieldset fields-list"><legend class="legend">%s</legend>', $this->getView()->translate($displayGroup->getLabel(), 'admin'));

                 foreach ($elements as $elementName) {
                     try{
                         $element = $form->get($elementName);
                         $html .= $this->render($element);
                     } catch (\Exception $e) {
                         // Element not found, ignore
                     }
                 }

                 $html .= '</fieldset>';
            }
        } else {
            $html .= $this->renderElements($form);
        }

        $footer = $form->add(array(
                'type' => 'cwdAdmin\Form\Footer',
                'name' => 'footer'
        ));
        $html .= $this->renderFooter($form->get('footer'));

        $html .= $this->getView()->form($form)->closeTag();
        return $html;
    }

    public function renderElements($form)
    {
        $html = '';
        foreach($form as $entry) {
            if($entry instanceof Footer) {
                $html .= $this->renderFooter($entry);
            } elseif($entry instanceof FieldsetInterface) {
                $fieldset = $entry;

                if ($fieldset->getLabel()) {
                    $html .= sprintf('<fieldset class="fieldset fields-list '.$fieldset->getAttribute('class').'"><legend class="legend">%s</legend>', $fieldset->getLabel());
                }

                foreach ($fieldset->getElements() as $element) {
                    $html .= $this->render($element);
                }

                if ($fieldset->getLabel()) {
                    $html .= '</fieldset>';
                }
            } elseif($entry instanceof ElementInterface) {
                $html .= $this->render($entry);
            }
        }

        return $html;
    }

    public function renderFooter($fieldset)
    {
        $html = '<div class="align-center button-height">';
        foreach ($fieldset->getElements() as $element) {
            $html .= $this->render($element);
        }
        $html .= '</div>';

        return $html;
    }

    public function render($element)
    {
        $html = '';
        $type = $element->getAttribute('type');

        if (!$element->getAttribute('id')) {
            $element->setAttribute('id', $element->getName());
        }

        switch($type) {
            case 'submit':
            case 'reset':
            case 'button':
                $html .= $this->getView()->adminFormElementButton($element);
                break;
            case 'select':
                $html .= $this->getView()->adminFormElementSelect($element);
                break;
            case 'datepicker':
                $html .= $this->getView()->adminFormElementDatepicker($element);
                break;
            case 'bool':
                $element->setAttribute('type', 'checkbox');
                $html .= $this->getView()->adminFormElementBool($element);
                break;
            default:
                $html .= $this->getView()->adminFormElementInput($element);
                break;
        }

        return $html;
    }

    /**
     * Retrieve the FormElement helper
     *
     * @return FormElement
     */
    protected function getElementHelper()
    {
        if ($this->elementHelper) {
            return $this->elementHelper;
        }

        if (method_exists($this->view, 'plugin')) {
            $this->elementHelper = $this->view->plugin('form_element');
        }

        if (!$this->elementHelper instanceof FormElement) {
            $this->elementHelper = new FormElement();
        }

        return $this->elementHelper;
    }
}

4.template.phtml

<? echo $this->adminForm($form); ?>