You have to:
1)Send a copy of the VIN/Ownership to US customs 48 hours minumum before bringing the car across.
2) When you bring the car across, you have to bring original VIN/ownership into US customs. They will verify it, and stamp/seal it
2a) Get Hyundai USA to give you a letter stating behicle has no outstanding recalls.
3) Take stamped ownership to canada customs. Pay fees and duty
4) Send application to RIV.
5) Canadian Tire must do the federal inspection/safety check
6) Get stamp from Canadian tire and put on RIV papers
7) Mail/Fax RIV papers with Hyundai USA letter

Get Canadian VIN from RIV and got to license bureau to finish transaction
That's it in a nutshell