Crossing the border into Canada and back into the United States is easy and trouble free if you know what is expected and you are prepared. 

Documentation required is simply your Drivers License AND Birth Certificate at both the Canadian and United States Customs.  Each person traveling in the same boat MUST have their own documentation to enter Canada and return to the United States.

Remember to have your government issued picture ID (Driver's License is preferred) AND a notarized copy of your Birth Certificate.  Passports are not required until 2009 when crossing the border by water.