How could i tranfer my shares from one demat to others

i was trading previously with IDBI but now i m with zerodha and i have demat account with both of them and i am holding some companies shares in IDBI demat account

but now i want to transfer those shares from IDBI demat account to ILFS demat account that is connected with zerodha broker

so how could i transfer those shares from IDBI to ZERODHA demat account as i want to close IDBI demat account because they always cut off some un-necessery charges from my account

nitin sir plz clearify the process