I've imported 2 campers into Canada. Dealt with RVW in Nov. 2007.
RVW will provide you with the necessary documents that you need at the border. If you check out their website, there's a section there for Canadian customers.
When you go into customs at the border, an agent will fill out the RIV forms (Register of Import Vehicles). With the HST in place now, I not sure whether you have to pay the 13% there or not. Last time I brought one into Canada, you paid the GST at the border and the PST at the licensing office.
After a couple of days you should be able to go to the RIV website and sign on using the RIV form # of your application. You pay the fee on-line, I think it's $200, and you can then print off the RIV inspection form. Arrange a appointment with your local Canadian Tire for the inspection, which is no more than a 15 minute walk-around. Take the completed form to the licensing office to get your camper plate and ownership.
It's a good idea to arrange for insurance before you head down to pick it up. Depending on the insurance company, this may be easy or not.
Hope you didn't pay for the CSA option that the dealership offers, it provides nothing. All the campers components are already CSA approved.
Nights camped in 2013 - 55, 2014 - 105, 2015 - 63