I would write a list of what you are bringing and anything that might follow just in case, as they did make me fill out these forms when I landed and having a list ready just made it that much easier. It doesn't have to be extremely specific, mine said things like "3 bags of clothing, 1 bag of toiletries" and they had me estimate the value. Be sure to write down also the serial numbers of any electronics as well, say if you are bringing a TV or laptop or anything like that.
It was all very painless though, they just looked at the list and nodded, never checked the car or anything like that and no, you don't have to pay taxes on any of it. Good luck with your landing! I'm sure you'll find it an enjoyable experience and a welcome end to the entire ordeal!
