Can I marry my girlfriend with the following situation?

I have been dating my girlfriend for the past 2 years. I am a US citizen and she is not. She came to the US legally when she was 8. Her family never filed the correct documents/forms and they reently had to go to court. They had the oppurtunity to accept voluntary departure. They did not know what they were signing and the lawyer said just sign it. Well, they had to leave the US and recieved a 10year bar. But instead of leaving, her family just changed states. We've been maintaining a long distance relationship and I visit her, but I was wondering if marriage is still possible. She does have a social security card, just not an id. Is their some type of waiver or anything that we can do for her to get married and change her status.