Go to the new domain registrar - to which the domain needs to be transfered to 
select  transfer domain to new registrar
enter the domain name 
add to shoping cart
pay the amount 
Now you are ready to start the transfer process

1. You would get a mail from the new registrar with two codes and the message 
Note : the mail is sent to the registrants email id, email id thats with the registry
against the domain. 

"You have received this message because you are listed as the Registered Name Holder 
or Administrative contact for this domain name in the WHOIS database. If you are not the 
Account Holder, or you are transferring the domain to a new owner, please forward this email 
to the appropriate Account Holder so that they may complete the transfer process."

"In the process of authorizing this transfer, you will be prompted to provide the 
Transaction ID and Security Code:

Transaction ID: ******
Security Code: ******

2. Now u need to login to the control panel of your old registrar and request for auth code
or authorization code. Authorization code is requested when you want to move a domain 
from the present registrar to another. If auth code request is  not present in the control panel 
then call them on the phone and ask them to unlock the domain and give the auth or 
authorization code. 

3. Login to the control panel of the new registrant once u have all the 3 codes
Transcation ID, Security code you received from the new registrant
Authorizaton code or auth code from the loosing or old registrant

4. You would see something similar to pending transfer 
click on the link & click on Authorization or Authorize 
enter the 3 codes when prompted. 

You are good . The domain will be transfered to your new registrant in 5 working days. 

If u need help send me a mail