I have had the same problem, here is the solution I found.
I have a 64-bit computer. I originally had a 64-bit lazarus, but because I was using a 32-bit sqlite3.dll I needed to downgrade my lazarus. I uninstalled the 64-bit lazarus, and installed a 32-bit lazarus. When I did that I came across the same error as above. Missing fpc.cfg
To fix the problem. I uninstalled 32-bit. Deleted the lazarus directory. And re-installed the 32-bit lazarus, (apparently the 64-bit lazarus data was interfering with my 32-bit data).
I searched and searched the forums for an answer to this simple problem, but was not able to find one. I hope this helps future users, with a similar problem!