The Renting of Motor vehicle is under RCM If : Services provider is Individual & opted to pay tax on 5% with limited ITC . Service Receptient is Body corporate.
Hence if above conditions fulfills you are required to do RCM & can avail ITC for RCM paid.
Note : If Services provider has charged 12% GST on his bill then Receptient (Co.) is not required to do RCM & can claim ITC for the same subject to conditions prescribed in Section 17(5) of CGST Act