Is there a way to settle my case without going to the place where the court date will be held?

My husband just found out he has a warrant in Washington. He didn't know there was a warrant but knew of a situation where his friends driving or riding in the car while he waited for them to take him to the hospital because he injured his knee roller-skating. His friends didn't take him to the hospital; instead they stopped somewhere and got caught for stealing. His friends tried running off. He moved out of the place to avoid those so called friends and wasn’t aware there was a court date set up for that night. That was over 13 years ago. We can’t afford a lawyer and his truck driving job won’t give him work until he takes care of this. We need to know the best and quickest way to take care of this. He hasn't been in any kind of trouble in over 10 years, not even a traffic ticket. Thank you for your advice!