How can I get the car title to a car that is filed in a chapter 13, but the finance company claimed $0 for that car?

What does your plan say about the vehicle? If it does not address this issue, you may need a new plan and a motion and order regarding the cramdown of the vehicle.

If the Creditor filed a proof of claim showing a secured claim of no dollars, then your lawyer should be able to reclaim the car by a threatening letter or two, or an appropriate motion in the bankruptcy court. If the creditor did not file a proof of claim, then your lawyer might want to file a motion under section 506 of the bankruptcy code.