Sorry, I don't know how. I am curious to see what responses you get.
What piano are we talking about? Naturally, if the piano is worth more than the price of the move, you really should not do this yourself.
First, you need the right equipment (the right dolly, the pads, the straps, the mallot), then you need the know-how (how to take the action out and put it back in right, how to secure the dampers, how to remove the legs and lyre with the pedals, how to tilt the piano unto the dolly, how to set the legs and lyre with pedals back up). Moving the piano yourself sounds more dangerous than tuning it or voicing it yourself (which perhaps you do).
I would tend to think we are talking around $300 or less. Is your piano worth more than that? You may be better off selling it!