You have to get a safety inspection, you may have to get an emissions inspection, and then you can get it renewed. The renewal cost will depend on the fuel efficiency of your car (the more fuel efficient, the more you pay for registration to make up for the difference in gas taxes).

I have not driven my car recently due to Covid and just went to get annual service and the registration is expired. Any idea how much it costs to get it renewed and do you have to go in person? It's not clear from the DMV website.