It's not that bad as it seems once you container or crate is located. My experience was bad because the port was a mess last month after several accidents. You are probably gonna ship to Nhava Sheva which is the largest port of india 30 kilometers outside of Mumbai. I did that a month ago.
I would recommend taking an agent, because it is hard to know the steps and who to speak to. Also tons of ridiculous papers to prepare, which I have no idea how someone could do it himself. I found the overall procedure costly but India import is like that.
I would advise to use an agent. I had a good experience with Aubrey D’Souza (Contact info at the end of this post).
Agent fee was $200 for clearing the 20ft container containing a land cruiser with a carnet. The man was also working on clearing bikes. He was good about answering the phone and emails. Mention my name to him, we had a good relationship.
I got tons of quotes from other people, and he was the cheapest.
You will just need to go to the port one time when you will collect the vehicle. As a special instruction to give to the shipping company, say that you want your bike to be sent to Speedy, which is where the "Accompanied luggage" should arrive.

J P INTERNATIONAL
VAJU KOTAK MARG,
NEXT TO DEVEN MOTORS,
BALLARD ESTATE, MUMBAI 400 001.
TEL: 022 66333261/66333263
MOBILE: 9821240603
E-MAIL: jpintl [AT] rediffmail.com

If you look in the archives, you will also find one guy who gives the procedure for clearing yourself. It is few years old.