Here's a link for you to start with. WHen I imported my car from the US to Canada, I just followed the rules and requirements as outlined in Canada's similar documents and it went great. Tons of forms and requirements to follow but if you do it all as they say, you should be OK. They even waive duty in your case if the veicle was previosuly registered in the US and you have proof of it.
https://www.cbp.gov/trade/basic-import-export/importing-car