First thing, you should realize that you have several different types of options: depending on your budget and actual security needs, you might be well (enough) served by getting an automatic web scanning tool - plenty of those out there. But take into account that these are NOT great, you can expect up to 30-40% of your vulnerabilities found, on the other hand this does help clean up the low hanging fruit that scriptkiddies and the like will be jumping on.
On the other side, maybe what you need is not simply penetration testing, but a more comprehensive security audit, including design reviews, code review, guidelines, etc. The answer for this will typically be different from your original question, which seemed aimed at pentesting. If you do need these, let me know and I can help with that too.
But to your direct question, a good pentesting firm - depends on your region.
I might be biased, but I find Comsec Consulting to be one of the best firms out there, operating mainly in Europe and the area, but also some clients in almost every part of the world - US, South America, Australia, etc. (Biased, because I've worked there for many years up until recently).
Again, depending on your region there are many local, "boutique" type firms, but its important to get references for these from clients who understand security. There are too many in this confusing field that simply feed their unknowing clients some strange info, and these never know better until the day they are hacked with a trivial exploit by scriptkiddies.