To transfer your domain you will need to follow a few steps at the current registrar -
1) Log on at the current registrar and Manage Domain (or something similar)
2) Turn OFF privacy if it is turned on
3) Unlock if locked
4) Make sure that your Admin contact email is correct
5) Get the Authorization Code (or domain secret), most likely sent to your email
We will need the authorization code in order to initiate the transfer, then you will receive an email to approve it.
Be watchful of any spam / bulk mail catchers you have to catch the email, if it happens to go there.