You talk to your bank (or other banks or credit unions) about refinancing, and try to find a loan which offers a better rate or lower payment or shorter time to pay-off (ideally all three, and don't forget to include the closing costs of the new loan in this calcuation!) and which is large enough to cover what you still owe on the car. Then, assuming someone offers you a loan which will do this, you use that loan to pay off your previous loan. A bank officer will be delighted to explain this to you in greater detail.
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Look at refinancing your entire life. What have you got already? (that's a problem) L
What ork' said, plus: Do not under any circumstances go to a "You keep the car" title loan place.