Here is one place that can probably help you:
http://www.broadwaytitle.com/index.htm I think their procedure is you "sell" them your vehile, and they then "sell" it back to you. But they are located in a state that does not use titles, and you just take their paperwork to your DMV and get a title in your state, it is just like you bought the vehicle and brought it home. Supposedly legal. But hopefully your vehicle is not already titled in your state, nor reported stolen. I imagine there would a problem if so.