I assume the court proceedings were open to the public (even if there was no one in the courtroom watching). If the proceedings were public, then you are entitled to get a copy of the transcript prepared by the court reporter. However, unless this is a criminal case and you are representing yourself, you will have to deal with the court reporter directly and pay up front for it.
If you don't know the name of the court reporter, pull your file from the clerk's office, find the paperwork relating to this hearing you're talking about, and look to see who the reporter was. When you ask for the transcript be sure to identify the date, the case number, the parties, and - if you can - the approximate time it took place.