If you return in a private vehicle, like your own car
If you return to Canada in a private vehicle, such as your own car, you do not need a permanent resident card. You can use your Record of Landing (IMM 1000) or Confirmation of Permanent Residence (IMM 5292 or IMM 5688) instead.
You would have been given these documents:
If you applied from overseas: at the same time as your visa
If you applied from within Canada: when you landed at your local visa office
An officer will ask you questions to make sure you meet all of the residency requirements before they allow you to come back to Canada.
When you return to Canada, apply for a PR card if you plan to travel outside Canada again.