I believe one can go to your local DMV office and apply for a lost title. You will need to have your normal information, proof of purchase, insurance, license that sort of thing. It should take about 6 weeks after you have applied to receive it.
beware if the vehicle has a lien on it. you will need a lien release letter from the bank.. If the original owner didnt pay off the debt the bank wont grant you a letter and you will be stuck with a worthless vehicle that cant be titled or registered