There is likely a clause somewhere called "rightful possession". Depending where you are this may include: a sworn affidavit before a judge (or JP) that you are in "rightful possession", a police check (as long as it's not been reported stolen, somewhere, sometime), and a "proper" bill of sale (dated with a contact name and address, which you should have anyway if the police check goes wrong). Taking all this stuff to the DMV should result in a title. In most cases the bill of sale is optional (you might have picked the vehicle out of a dump, and your sworn statement before a judge/JP will reflect this) but be prepared, there is no telling before hand if the police check will go wrong.
Everywhere I have lived there is the "rightful possession clause", it can be a royal PITA, but it is the last resort.
Money: At one time government services were cheap, they no longer are, expect to pay the same as if you were doing this with a car.