Bernhard, thanks for your suggestion. After playing around with different 
configurations, I've finally made it working.

        // Code in controller
     $relationUserUniversity = new RelationUserUniversity();
     $relationUserUniversity->setUser(new User());
     $relationUserUniversity->setUniversity(new University());
        $form = 
UniversityRegistrationForm::create($this->get('form.context'), 
'Registration');
        $form->bind($this->get('request'), $relationUserUniversity);


class UniversityRegistrationForm extends Form
{
    protected function configure()
    {
     $user = new Form('User');
     $user->add(new TextField('firstName'));
     $user->add(new TextField('lastName'));
     $user->add(new TextField('email'));
     $user->add(new RepeatedField(new PasswordField('password')));
     $this->add($user);
     $university = new Form('University');
     $university->add(new TextField('name'));
     $this->add($university);
  
    }
}

Thanks for help,
Nikita

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