The DMV will send a request for it from your lien holder. They will of course will add a charge to your vehicle registration for doing so as well
Unless you own your vehicle and hold your title this is the only thing you can do. Will warn you they said depending on your lein holder it could take a month to get it back. We called ours and pushed for expediate and paid for overnight since we had a severe time crunch on getting the registrations done. So we got our lien holder to pull them and get them to the dmv in just a few days, but it all depends on your lien holder. The DMV will issue you a temporary title and send your original title back to the lien holder changing the state of lien.
This state is a headache