These are the forms that you will need:
http://www.nydmv.state.ny.us/forms/mv82.pdf
http://www.nydmv.state.ny.us/forms/mv51.pdf
http://www.nydmv.state.ny.us/forms/mv51b.pdf
http://www.nydmv.state.ny.us/forms/dtf802_01.pdf
Also bring your hand-written bill of sale, the pencil rubbing or photo of the VIN, your ID, and money.
The instructions are on form MV-51b.
You can download forms on this page:
http://www.nydmv.state.ny.us/forms.htm
More info here: