Here's how I did mine:
Existing install was 200A meter base outside, 3 conductor SER cable to a 200A disconnect inside, then 4 conductor SER to the original 200A panel. The meter was previously moved due to an addition, hence the disconnect. Ground conductor is ran from the disconnect to the ground rod and cold water pipe.
To add a second 200A panel in the basement, with a 100A sub panel in the garage, I intercepted the 200A SER feeding the original panel, ran it to a 12x12x8 junction box, and from there picked up the original 200A SER and added a second one for the new panel. The SER conductors were spliced using 3 hole taps.
My memory is hazy, but NEC allows this as the 200A disconnect is my over current protection and the point of bonding.
In my case I already had 200A service. This was not a service upgrade, but rather just distribution.
I am not a licensed electrician, but work for a commercial electrical contractor. I presented what I was trying to do to my some of the more seasoned guys in the shop and this was the most cost effective way to accomplish it. Permits and inspection were done.
Chris