The regulations for transporting propane in a motor vehicle for the United States and Canada are here:
http://www.ehow.com/how_5847451_transport-propane-tanks-car.html
I couldn't find anything specific for Mexico
In summary,
Transport propane cylinders upright, on a flat surface, and secured in a manner to prevent tipping.
Propane cylinders must be as far from the driver as possible and must be isolated from the engine and exhaust system.
The total weight of the cylinders, including the propane they contain, cannot exceed 108 pounds (In Canada, the rule is a maximum of 5 cylinders, but each cylinder can weigh as much as 66 pounds
If the cylinders have safety caps to cover the valve opening, those caps must be in place.
Canada requires that the the area where the propane cylinders are stored be ventilated, i.e., with windows open or if in a trunk with the lid open slightly.
General propane safety procedures warn against leaving filled propane tanks inside a hot car because heat will cause a build up of vapor pressure which may cause the OPD to vent propane into your vehicle. One way to handle this is not to transport full tanks. Federally mandated Overflow Prevention Devices will not allow filling beyond 80% capacity which may prevent venting in a hot vehicle in most cases, but I typically use a bit of the propane in each tank before a trip for an additional margin of safety.
Propane is heavier than air, so be sure to store the tanks in a location where vapors cannot build up. ["Back in the day" it was not uncommon to find marine propane tanks mounted in a location where vapors could sink into the bilge to mix with gasoline vapors from the engines. Can you spell B-o-o-m!!!]
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PS - I recently had occasion to look up the regulations and safety rules for transporting propane inside a vehicle because I just purchased an 11# tank so I would have enough fuel for a stove and propane campfire. This is where my tank will be stowed for overlanding trips (removed otherwise):