You need to go to the publisher for the rights. Companies will do it for you, they’ll charge a small fee, as little as 12 bucks to file paperwork. Depending on the tune and how many you want to press for release it could be just cents per song. Google should be helpful.
You basically need to pay "mechanical royalties" (I think that's the right term) for each CD that you want to produce. You don't need anyone's permission, unless you want to record it without paying royalties.
I would imagine that the SOCAN website above would have the required links.
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