1. You need to order a transfer in services from the new company (the company you wish to transfer your domain name to)
2. They will email you a transfer request.
3. You need to make sure that you are the admin email contact for your domain name because you need to approve the transfer request. You can check what this email is by doing a WHOIS SEARCH

You cannot transfer a domain if :

1. The domain has already been (registered or transferred) less than 60 days ago with another registration company.
2. Your previous registrar has the name locked for either non-payment, or at your request.
3. The domain has already passed its expiration date or is about to expire within 20 days.
4. You do not have access to the registered Admin Contact E-mail for your domain, or the person listed on your domain's Admin Contact email doesn't approve the transfer within 5 days after initial transfer request.