Since I have done this in California here are the steps.
1. Call your insurance company, get the car registered on your insurance.
2. Have your cousin write up a bill of sale for the vehicle (you can get a template from the DMV website)
3. Have your cousin fill out the information on the title for sale/transfer
4. Head down to the DMV with signed title and bill of sale, you will have paperwork and fees to pay.
Check the California DMV website, they have guides and places to download documents there.