Should I go to court over a vehicle given to me without them notifying me of a lienholder on it?

I was given a vehicle with expired registration after I got out of the hospital. I was not allowed back into the house either to get some of my belongings. The vehicle is now impounded and was arrested for registration issues. I found out the vehicle had a lien on it when I went to the DMV. The other party has failed to remove it and the finance company is looking for the vehicle. My family did not tell me there was a lien on the vehicle and will not do anything to help. Do I stand a chance in court?