Typically, if you don't have a title and you have a car all you need to do is file for a new title. The DMV will send a letter to the last known address of the last legal owner asking if the car was stolen and/or if was legally sold. As long as the last legal owner does not contest the issuing of a new title to the current owner a tittle will be issued. For instance, if the last owner has died and no one at the last known address contests the issuing of a new title the DMV will issue one.
A bill of sale would help, especially if it's a relative.
treblig