Yes
You should either    pay sales tax   demonstrate that sales tax was paid
What do I do if I bought the vehicle from a New York State car dealer?
Bring the dealer's bill of sale showing that you paid New York State sales tax. Also bring a bill of sale from MV-50 NY State dealer only or a full sales tax exemption {Sales Tax Form} pdf at the New York State Department of Taxation and Finance DTF-803 for a - state licensee.