The other company will need to unlock the domain and send you an authorization code. Please request the code.
1. Log in to GoDaddy
2. Go to GoDaddy homepage, click on Domains > Domain Services > Domain Transfer
3. Enter in domain to transfer in search box
4. Unlock the domain status will be green if already unlocked.
5. Enter in authorization code.
6. Continue.
7. Notify client process will take about a week to complete after we enter in the the authorization code.
8. Go to My Products > Domain Manager > Domains > Transfers to view status of transfers.
https://www.godaddy.com/help/transfer-my-domain-to-godaddy-1592