Call the police department that had her car impounded. They will tell you what she needs to get her car out of impound. Whose car is it? Does she have any other warrants out on her? You are going to have to deal with the DMV, possibly the Courts to get this resolved. Each day the fee increases for the impound yard. An attorney might be able to assist you deal with some of the issues. Eventually, if everything is cleared up, the police dept will give you a release slip to bring to the impound yard. You then have to pay them. At times, the car is worth less than the impound fees.
I agree with the first answer given. Contact the police or the impound yard where the police hold cars and find out what they want to release it and then go there with the title, registration and money to get it out of impound.