If you have been in the US for a long time, it is definitely a lot easier, because you can claim it as stuff that you are relocating with. I think over 6 months.
If less than that <time>, then you need to claim it as an import - and you may have to pay taxes. I cannot tell you much about how much. My situations were special. The customs will finish some paperwork, and use that to communicate with you.

That said, once you are here -
a) you need to have a few things done to it. You will get a letter from the border folks telling you what to do.
a) get the car ready for Canada. Kid seat belts are different in Canada. Depending on the year, you may need running lights.
b) you will need to pass emissions tests.
c) you need licence plate stuff.

Fairly simple. I did it about 3 years ago, and again about 10 years ago.