PMM said:
Hi
1. First I assume you have owned for at least 6 months and have clear title and is purchased before you became a PR.
2. First you have to export from the US, for this you will require the title. See: http://www.cbp.gov/xp/cgov/trade/basic_trade/export_docs/motor_vehicle.xml
3. Note the US export offices aren't necessarily right at the border.
4. Then you have to import it into Canada if it is admissible. See: www.riv.ca
Lemon85, unless the rules have changed, there is no 6 month rule of ownership if you're including your car in your Goods to Follow list. Call CBSA to make sure. When I brought my car in, the CBSA agent indicated that for as long as I didn't come straight from the car dealership, my new car would meet the requirement of normal ownership. In my case, I purchased my car in April 2008 and landed in July 2008. I was able to export it from the U.S. and import it into Canada without any issues.
With regard to your question as to whether to drive the car or have it shipped, you need to do your research. My bet is driving the car cross country will be the cheaper option.