Yes
You must pay sales tax at a motor vehicle office. Bring your proof of ownership and proof of purchase price. The most commonly accepted proof of purchase price is a Statement of Transaction: Sale or Gift of a Motor Vehicle, Trailer, ATV, ATV, Boat or Snowmobile PDF at the State Department of Taxation and Finance. New York DTF-802, available at any motor vehicle office or at the DMV Internet Office.
I see, I have the receipt, the only thing I don't know is the address where I should pay the taxes. and what do I need to reveal when transferring the title to a new owner
You will need to fill the odometer and damage disclosure statements and sign your name.  then enter all the seller's information on the sales tax form Statement of Transaction