A Pennsylvania vehicle bill of sale is a legal document formalizing the sale and purchase of a motor vehicle between a buyer and seller. The buyer and seller should meet at a notary, tag service, or motor vehicle dealer to ensure the title application is completed correctly.PURCHASE PRICE - List the correct purchase price. The buyer needs to fill out Section D on the front of the title, including lien information if they are financing the vehicle. Is the sale of a car to a family member exempt from sales tax? Here is the summary of non-taxable transfers provided for transfers of motor vehicle titles. The answer is yes you need the title in hand, as well as a bill of sale to pay the sales tax, in order to register the car.