The required application form (MV213) is at the link http://dmv.de.gov/forms/veh_serv_forms/pdfs/ve_frm_mv213.pdf?100915
If there is a lienholder (lender) on the title and you have paid off your loan, you will need to complete the block saying the lien is “satisfied”. Include a copy of your(s) driver’s license. Submit as follows:
By mail. Send the completed form and ID copies along with $50 fee to the address at the top of the form. Include a self addressed envelope.
In person. Bring the form to Delaware DMV office. Locations can be found at http://www.dmv.de.gov/home/contact_info/index.shtml
REPLACEMENT TITLE – DELAWARE
You cannot transfer ownership of your vehicle if you do not possess the Title Certificate. The most common reason you would not possess the Certificate is that there is a lienholder (lender) for the vehicle. In this case the lien holder maintains control of the title until the lien (loan) is paid off. This common situation does not require a replacement of the original title, but instead a transfer of the title to you.
REPLACEMENT. The title must be “replaced” if the original has been lost, damaged (rips, coffee stains, water damage), has cross outs or white outs, or has incorrect entries (such as seller’s printed name and signature not matching the official names on the front of the title) or signatures in the wrong place.