How do I remove a lien on the title of a vehicle if creditor was included in bankruptcy?

If the creditor was on the list of those that had their liens discharged in BK, then the lien should not validly exist.  I suggest contacting your lawyer that assisted with the BK to contact the creditor and confirm that the debt was discharged.  your lawyer may end up filing paper with the recording division showing that the lien is no longer on the title or the creditor may be required to file a release of the lien.    I suggest that before you contact the lawyer, that you trying calling the credior and finding out what if any it is going to do now that their debt was dischaged.  this will avoid you from having to incur additional attorney's fees by having your lawyer make phone calls that you can make on your own.