You need a good base, obviously, or the pavers will move. Just an FYI, I'm on the committee to rebuild our downtown area. They (the engineering firm) said the best new way to lay pavers is to pour a concrete slab, with aeration/drain holes, then a thin layer of sand to set the pavers. That way they never tip or sink even in high traffic areas. I don't know what your budget is, but this would be a good low maintenance alternative.
I have pavers leading to the front entrance of our home. They've been there for about 28 years now, with just foot traffic. They're in need of re-leveling. I'm thinking of going with the concrete base when I redo it.