An additional fear of mine on the trip was getting a flat tire. I would recommend making sure your car is equipped with a full-size spare if you're going to travel away from major cities. Juarez From El Paso, you'll cross into Mexico in Juarez. That's all you'll need unless you're traveling farther than Ciudad Juarez. Beyond Juarez, you'll need a passport, voter's registration card or birth certificate for each U.S. citizen traveling to obtain a visa.
Requirements vary for citizens of other countries.
It's best to secure automobile insurance from a company in the U.S. before entering Mexico. After leaving the border checkpoint you may want to spend some time visiting Juarez. To continue to Chihuahua and the Copper Canyon, travel south on Highway 45 past the airport. It is good for six months. Be prepared for little nuisances like making copies, but the entire process should not take more than an hour and a half.