You or your daughter would fill out a statement of facts which you can print off of the internet reg form 256 stating its a family transfer and remember to sign it on the back. Then the seller would sign 1a. Odometer section would need to be filled out if the car is 10 yrs old or younger. New registered owner would fill out lines 3a to 9a. The fee would be $15. If you don't have the title then you can either print the duplicate title form reg 227 or you can get it in the office and fill out sections 1, 3, and 4 as the seller and section 6 for the new owner and that cost would be $36.
Sign over the pink slip which will also have a release of liability for on it (which you have to mail in, or you can do it online which is way faster) and then have her bring the pink slip into the DMV with her ans register the car in her name.
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