I did my landing on 16-12-16,
You dont need US visa for landing
I would suggest to go by car its very easy process,
Just go to bridge, you will fine US border guy, mention that you came for landing he needs just passport. he will see in car how many people and who all doing landing etc.
then he came out of his booth and direct to the next officer, who give the letter with the name mentioning for who all doing landing (looks like rough rejection letter)
He will direct towards toll booth, where you need to pay 4.75 CAD dollar to enter again in Canada.
In Canada side you need to show passport and COPR letter, there he will give one yellow slip and ask to park the car (lots of space and free parking there so no worries )go to the building
That building they will take your passport COPR and yellow slip and asked to wait, after while he will call your name and ....