Car purchase in Germany for export to the Netherlands

I would like to buy a car from a private person in Germany, but he has already registered the car and has no registration number. When I bought a car from a dealer in Germany, the car had to be taken to the car registration office in order to show the car and get the customs registration number. What about this situation? Can I only go to the car registration office with the documents of the car or do sellers and car with me?