Do I still need to pay the fee for my bench warrant last 2009? I thought it was already cleared because I get valid driver’s license.

I moved to a different county and was picking up a friend where she works at the airport. A policeman stopped me saying that I have a $5,500 bench warrant and to take care of it immediately. This warrant was from 2009. I thought it was cleared since when going to the DMV, they issued me a valid driver’s license with no problem. I need to go to the court and speak to the judge to have this warrant cleared already. I thought I had no warrant given that a license was issued to me. I was going to go alone to the court but given the long period of time this warrant has been in my background, it seems an attorney might make it more of a smooth transition although the time spent with the judge at court, 5 to 15 minutes. And the high price of attorney is convincing me to go at it alone.