getting cars through U.S. customs

I want to bring two first gen m3's into the U.S. but I don't know how to get them through customs. I met a guy who had a honda beat convertible, and he imported it WITHOUT going through a registered importer and WITHOUT making modifications sneeking past the high fee's, how can I do this! I know I can get the cars registered once I get them through customs, it is just getting them through that seems to be the problem, can anyone help, anyone?

We have imported cars privately fromm Europe for about $1200 per car, IF they are US spec. That is the key, emissions, safety, etc. If not, youre going to run into some difficulty finding someone to ship them here. Also consider if you go through gray or black market transporters, you have no insurance for the vehicles. Depends on how big of gambler you are. The main Customs port of entry on the east coast is Elizabeth NJ. The customs service also has some info available on importing, but there are only a few pages in the $10 book dealing specifically with autos. I can scan them and send them to you if you have Acrobat or something like it. Just let me know. Good luck.