The best thing is to take it for the TuV so they will tell you what they don't like. They charge substantially more for this test than normal and it takes longer. It helps if you find the HSN/TSN numbers for your car.
If their is anything wrong, you can have a re-test if you take it back within 4 weeks - this is cheaper as they only check thie items that failed.
Also, you need to get a form from the KBA (I think you can download it from
http://www.kba.de/). This is for them to check that the car was not previously registered in Germany. You send this off, pay their fee - they send back a document to say the car is not known to them.
You take this document, your TuV, your German insurance, your anmeldung, your passport and Czech car registration documents to your local zulassungsbehoerde - and money for the registration. I think they will also want to take the czech number plates as well.
I don't know what paperwork you need to do with the Czechs - best to check this first.
I did this a couple of years ago for a British registered car - it wasn't too bad.
Your local zulassungsbehoerde should be able to give you a defnitive list of what they need - and it is usually on the town website.