Assuming you are on this site because you CAN'T hire an attorney, here is some practical advice.
You can clear the arrest warrant by placing yourself on Calendar and appearing before the judge who issued the warrant. Different Courthouses have different methods of doing this, but they all allow you to put youself of calendar one way or another. Call the Court and ask the Criminal Clerk what you need to do.
You should know that the judge may choose to punish you for failing to appear. This may be anything from yelling at you to putting you in jail. Explain youself clearly. You may want to bring notes.