kanebo PR is right.
there is no other way to get directly from Canada to PR, unless u go from NY or NJ to Florida(by bus, train, cruise, car or plane. Florida is the easiest state to get to PR, because its closer, its approx. 2 hours and 30 minutes.
sending a car to PR is expensive, you might rent a car or buy a new-used one. if you are Canadian citizens u need passport, identifications with photo, birth certificate, social security card and any other traveling requirements.