This varies enormously by country -- check your local rules
How vehicle liens are recorded, who has to file the paperwork, and what a lien release requires differs a lot between countries and even between states or provinces within the same country. This is general background information, not legal or financial advice -- check your local motor vehicle registry or licensing authority for the exact process.
A lien is different from a seizure
A lien is a security interest you and the lender agree to when you take out a loan; a seizure (or impoundment) is a forced action tied to unpaid taxes or a court judgment. Both can show up on a vehicle's record, but they arise from very different situations.
Frequently Asked Questions
Can I sell a car that still has a lien on it?
Often yes, technically, but it usually complicates the sale -- many buyers and title offices expect the lien to be cleared first, since the buyer would otherwise inherit a complication tied to someone else's loan.
Do I have to file the lien paperwork myself?
For most dealer or bank financing, the dealer or lender files it as part of closing the loan. It's more likely you'd have to handle it yourself in a private-party loan between individuals.