Is there a company that can help get your vehicle back when the lien holder does not want to give you the car back?

Yes, the companys are called "ATTORNEYS". But,getting your car back is subject to the contract you signed. Most contracts give the LENDER the right to accelerate the balance due under certain conditions.(2nd repo, 2nd default ect) Call alocal attorney for a free consult. If theres a dollar to be made, they will likely take your case. Good Luck