No need to contact any domain registrar..you can transfer your domain name yourself.
Here is the process: If you transfer between same domain seller.Like between Direct I to Direct I
1) Select your New domain registrar.
2) Sign Up as new customer at new registrar
*img72.imageshack.us/img72/7507/doamin1dd0.jpg
3) After signing , you get a new user name and customer ID.
4) Log into your old domain control panel.
5) Find "Move service"
*img218.imageshack.us/img218/3554/d2np4.jpg
6)click on this
7) you will be asked New customer user name and customer ID.
*img72.imageshack.us/img72/378/d3ww5.jpg
Fill the form....with your new username and customer ID, which you have got from new domain registrar.
8 ) click "Move services to New Customer Control Panel"
9) your domain name has been moved to new domain registrar. Log in at new domain registrar.There you will find your domain name.
That it.