"Some wacko just called asking for a Shubert Hearse. Said he didn't care whether it was used. Probably best not to ask questions. You can usually find Hearses near the church."
This is a relatively easy mission. Drive to the Empire Bay Church and the hearse will be parked along the northern wall. Steal the hearse and carefully push through any churchgoers as you drive through the exit. The vehicle doesn't have much speed, but it handles well.
If you've never driven a hearse before, you may want to notice that there's a casket, complete with fresh corpse, loaded into the back. Think about that as you drive it to the new garage located in the northern part of Kingston to end the mission.