How to transfer shares to Zerodha from my previous DP

I want to transfer my stocks to Zerodha what will be the procedure and how much will be the cost

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Call zerodha helpdesk number 080-40402020
They will let you know what to do.
If you already have the shares in dematerialized form (in your demat account) its very eay.
You need to fill the DP slips and submit them for transferring the shares.