Do I need a lawyer to release a car lien?

I bought a car from a Craigslist seller. He signed over the title and a bill of sale. He even gave me the title. Turns out there is a $2000 lien on the vehicle. After a huge hassle of finding the lienholder (in a different state than me), he wants me to send $500 even though I think he was part of the scam. Trying to release the lien, get a bonded title, just get the car in my name.