Basically, my understanding is that you would have to take him to small claims court (or civil court, depending on the amount owed), but the title will not be able to transfer until the lein is cleared. Possession of the vehicle is one thing, ownership, is another.
Lein is easy to do. Just fill out that portion of the title. Wife's former mother-in-law put a lein on a car that was supposed to be for my step-daughter un-beknownst to my wife. Needless to say, both my wife and step-daughter were surprised and upset to find out she did it. Lesson learned - once you sign a title, keep it in your possession until it goes to DMV or else unscrupulous people can fill out additional stuff without your knowledge. Joke's on her, though. Car is in my wife's name with her name on the lein. Now that former mother in law wants to sell car, she can't because wife won't sign title out of pure spite.