Choose the company you would like to transfer your domain name to, go to their website and locate Domain Transfers.
Before you transfer your domain name, you will have to make sure the Domain Lock is turned off. Visit your current registration company to check this and turn off the lock if necessary. After submitting the transfer the Administrative contact on the current domain registration will get an email from the company you are transferring the domain name to. Most likely the administrative contact will have to follow the instructions in the email to approve the transfer. (See Domain FAQs - What are domain contacts?). The administrative contact may or may not receive an email to approve the transfer (or dispute it) from the losing Registrar. If an email is not received from the current Registrar, the domain name will automatically transfer within 5 days.