If a car or motorcycle does not have Belarusian or Russian license plates, the driver must fill in a customs declaration and report the vehicle to the Belarusian Customs Service when entering Belarus from EU or from Ukraine. On the border of Belarus at the entrance or exit you need to go through the so-called "red channel".
Along with the usual method of declaring in a manual way there is modern
electronic declaration of the vehicle to the Customs Service (ЭПИ).
1) driver's passport
2) vehicle registration document
This is a paid service: price is 10 pln.