You cannot do anything. Your friend needs to hire an attorney to help him. If there is a warrant issued for his arrest, he can be stopped an arrested at any time.
You can't have your friend's warrant lifted. Only your friend can do this. They must appear in court and explain where they have been. In some cases a lawyer can do it for them, but the best thing that you could do would be to help him/her get a lawyer.
You don't. He has to do it. He needs to go to the court where the warrant was issued, place himself/herself on the judge's calendar and request that the warrant be recalled. Of course, whatever he/she didn't do that got the warrant issued in the first place will need to be addressed.
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