Only available at the Santa Teresa & deming border. They close at 5 or 6. 
If your vehicle is not paid off you need to arrange with dealership to cross border. 

If you are not crossing through those borders: 

https://www.banjercito.com.mx/registroVehiculos/

Register here for permit atleast 20 days before crossing. You will need to print it out and have a copy in your vehicle. Keep in mind antelope wells border closes at 3. 
Cost is 60 dollars for vehicle permit + 400 deposit.
When crossing back into the US, return permit In person at deming or Santa Teresa border. They will refund you 400 deposit.