1. Open the default "layout" on the top, you should see the 3d model. If it's not there just press the plus sign to add it.
2. Change the mode to "object mode" (top left of 3d view).
3. Select the armature of the model (right panel). This is the one that doesn't say pose. If you selected it and it stays on object mode, then it's correct.
4. Hit the letter n. Now a panel should open in the right side of the 3d view.
5. Open the "MMD" panel. The letters are written vertically.
6. Press the "Convert model" button, then "ok".
7. Right under, press "Attach Meshes to Model"
8. Left click in the 3d view, then hit a. It should select everything.
9. Now export the model as usual, in .pmx format. If it's only a Blend file, you should also export the textures under "File", "External Data" then "Unpack all into files". Put them in a new folder with the pmx file.
Now you should be able to open the model in pmx editor. The hardest and longest part is renaming the bones. I usually just open a generic miku model. Use the W tool to figure out which bones have weight, then match that same bone name to the exported model. After every bone have the same japanese name, I save the exported model. I then delete all the materials from the miku model and import the exported model, with merge bones checked. Then I just reposition the bones to the correct place on the model.
There is probably some easier way of doing this, but this is what has worked for me. Let me know if my way is a waste of time.