Walk in and tell them you want "Title ONLY!" No plates, no registration nothing, just proof of ownership.
They will likely ding you for any transfer fees that weren't paid on title skipping... meaning if you weren't the buyer from the titled person, you'll pay the fee if there was another person in the chain of ownership. IIRC, it's ~$15 per transfer. So if there is one other person between you and the titled name, you'll get hit for $30.
Hopefully there aren't any back fees due. They can be a pain to get rid of depending on who you get at the service desk. I'm guessing if it's out of the system, no back fees will be on the books.
They will do a VIN verification and you're good to go. They usually will do a verification with the car on a trailer. They do for me. If you have AAA, they are most of the time MUCH easier to deal with than the DMV for this stuff.