Trying to get gifted car registred in my name?

One of my dads friends gave me her car (2002 ford escape). She doesn t have the title/ can t find it. I did a carfax and there is a lien on it so I m wondering should I try to get it registered in my name or leave it alone. I ve been looking on dmv.org but got no clear answers. Anyone gone through something similar?

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