Step 1: Get the slope.
The line makes angle $90^{\circ}+\alpha$ with the X-axis, so its slope is $\tan(90^{\circ}+\alpha) = -\cot\alpha = -\tfrac{\cos\alpha}{\sin\alpha}$.
Step 2: Use point-slope form.
Through $(p\cos\alpha, p\sin\alpha)$:
\[ y - p\sin\alpha = -\tfrac{\cos\alpha}{\sin\alpha}(x - p\cos\alpha). \]
Step 3: Clear the fraction.
Multiply through by $\sin\alpha$: $y\sin\alpha - p\sin^2\alpha = -x\cos\alpha + p\cos^2\alpha$. Bring the $x$ and $y$ terms together: $x\cos\alpha + y\sin\alpha = p(\cos^2\alpha + \sin^2\alpha)$.
Step 4: Simplify.
Since $\cos^2\alpha + \sin^2\alpha = 1$, the line is
\[ \boxed{x\cos\alpha + y\sin\alpha = p} \]