Most of what's required is available on the Canada Border Services Agency (CBSA) website.
http://www.cbsa-asfc.gc.ca/publications/pub/rc4151-eng.html#P002You should also contact Transport Canada, as vehicles that pass U.S. inspection guidelines don't necessarily pass Canadian guidelines.
http://www.riv.ca/english/html/how_to_import.htmlNote that among the requirements are your need to own, possess and use the vehicle "for some time" before arriving in Canada. The instructions indicate you must be able to legally drive the vehicle, which means you must have had it registered and insured in your home country, and you must have a valid license to drive it. You also may not sell the car within 12 months of landing or you will owe duties.
The 6 month time period is actually for former residents returning to Canada. But it's probably a pretty good guideline as far as what would be convincing to CBSA that you've used the vehicle "for some time."