Previous owner (car) gave me a copy of the cancelled check (final pmt in accord and satisfaction) Finance Comp wont release title to me, now what?

I acquired a mini van from a friend before he left the country, he handed me the keys, the title showing the finance company as owner. The cancelled check for final payment, in accord and satisfaction. We contacted the finance company and they refuse to release title to me and issued a repo back in 2012. I've been the registered owner since early 2012 and still maintain possession, as it's registered and insured to me continuously since then. Three times encountered a repo guy. pulled out the canceled check to the finance company and called the cops. Cops held them and told us to leave as it's clearly a civil dispute and told me, "never lose that final pmt check, and clear this up as soon as you can" 3x the cops told us to leave and detained the repo guy until we were gone. I'm not giving them my car, and they won't release the title nor stop the repo. I'm really tired of this and I want my title. I'm in NYS, how do I get my title issued from the NYS DMV Title Bureau?