How to pass Russian border with a car and survive

The most disturbing part of our trip is crossing the Russian border.

We have got used that within the European Union, that everything is nice, easy and pleasant. The more the border with Russia seems to be something very mysterious.

So far we know (theoretically, from the Internet):

• How to fill in customs documents
• How to fill in the migration card
• Where we can check the waiting time in the queue at the border
• Where we can check how many cars crossed the border on a given day
• Crossing the border step by step

We have planned 3 hours to cross the border. I wonder what it will look like in reality.