To start, not all states obligate concealed carry permit holders to inform police that they are carrying. However, if you're pulled over, and you do want to inform the officer, keep your hands on the wheel and calmly tell the officer that you have a permit to carry concealed. Tell them that you are currently doing so -- again, without having moved your hands. Ask them how they would like you to proceed.
You will probably be asked where the firearm is located. They might ask you to step out of the car so they can temporarily relieve you of your weapon. They might just say something like "don't reach for yours, and I won't reach for mine." Bottom line: let the officer guide you, and keep your movements slow and deliberate.
DON'T say the words "gun" or "weapon" or anything like that. Those are keywords that can trigger an instinctive reaction in the officer, and they might not be able to hear anything else you say thanks to a rush of adrenaline.
Interestingly, Minnesota is not a state where CCW holders are obligated to disclose their permit or weapon to peace officers.