Photocopy your birth certificate, your expired passport and the government-issued photo I.D. and leave them at home in case you lose the originals while traveling. The copies will serve as proof of identity when re-ordering originals.
Drive up to the border post at the Canadian border or to the international ferry station where you want to board the ferry to Canada.
Show your expired U.S. passport to the border control official with the government-issued photo I.D. and the birth certificate.
Use your expired U.S. passport to travel overland within the United States as proof of your identity accompanied by your government-issued photo I.D.
Renew your passport as soon as possible to be able to travel again to any other international destination.