What UkEngQatar is wrong...
They will accept atm card also.
You can make it like this --- they will not accept cash...only cards.
You can go to Matar Qadeem Traffic department.If you go in the morning - before 8, its wont take much time.
Try to continue with the same insurance company, as other companies(most of them) will ask for "no objection" from the previous.

1. Renew the insurance first.
Renew it before the insurance due date, otherwise
they will demand you that they want to see the
vehicle.
2. Take a copy of the insurance certificate and got to
any of the traffic department extension counter,
submit along with the old registration card and pay
QR 100 with card.