Importing a vehicle into Zambia (Lusaka)

Greetings, Is there anybody out there that can give me some advise. I will be moving to Kitwe in January. My household items will be cleared through a relocation moving agent, but I am planning to drive my vehicle across the border prior to my household items arriving. Can someone please tell me what the procedure (registration, documents and costs) are required to drive the vehicle across the border (planning to come through seshek border post.