How to get customs clearance in Abu Dhabi?

Hi I am sending my personal luggage to abudhabi airport. Can someone tell me how to get it clear from abudhabi airport customs. The luggage is between 80-100 kg without any electronics item, or any prohibated stuff. Its just my personal stuff like clothes, shoes books etc. Do i need to avail the services of some cargo company or i can collect it at my own from Abudhabi airport. I will appreicate if someone can tell the procedure/cost associated with it. With Best Regards