When I got mine, Went down to liverpool with a trailor, Paid my release fee for the labour of shipyard (£20 just to drive it off a boat lol), You need to have paid your UK duties and Customs charges prior to going down and have some kind of proof of this. They you take her home and you will need to register it yourself mate with the DVLA.
Oh and you need an MOT before you can register it on UK roads, I had to get that done on the chassis number, also had to insure it on the chassis number prior to getting a reg plate.