Does Company XYZ currently provide DNS services for the domain you are wanting to use for your new ABC servers? Do you want to entirely move everything in the domain to now point at your new servers, or do you want to add additional entries (newserver1.example.com, newserver2.example.com) to the domain?
If you just want to add a new record, check with Company XYZ to find what interface they provide for doing this. If you want to move the domain entirely, you have two choices. First, Company ABC may offer DNS hosting as well as server hosting, and you could just ask them to transfer the domain. (You'll need to coordinate with the old company.) Second, and perhaps better, you could move the domain to a dedicated domain registrar / DNS provider. This will probably give you more flexibility and control in the future. I use and recommend pairNIC
(they've very tech-savvy and helpful), but GoDaddy, Register.com, etc., and others will also work just fine.