...well, it's not really a literal follow-up, except in the sense it's made by the same folks who did Legacy.
Star Wars: Dawn of the Jedi
http://www.comicbookresources.com/?page=article&id=34902
Star Wars: Dawn of the Jedi
http://www.comicbookresources.com/?page=article&id=34902
comic book resources said:In 2006, a creative team already well-entrenched in "Star Wars" lore set their sights on the far future of the Skywalker line, chronicling the adventures of rebellious Jedi Cade Skywalker in "Star Wars: Legacy." Now, writer John Ostrander and artist Jan Duursema will take a step back, all the way to the very earliest days of the Jedi Order. Thursday at New York Comic Con, Dark Horse announced "Star Wars: Dawn of the Jedi," an ongoing series of 5-issue miniseries launching February 1 with an introductory #0 issue, with #1 following two weeks later. In an era before lightsabers, before adherents of the Force were divided into light and dark, what does it mean to be a Jedi? And how did the Order first come to be?