A release and reconveyance would be appropriate. Most title companies will provide this, or we can prepare one for you. The fee would be very modest, and, we can also take care of recording it for you once you execute it.
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You are looking for a deed of release and reconveyance. As stated by the other poster, an attorney or a title company can draft up the form. Part of the question is whether you are the lienholder/lender or if you are the owner/borrower. The document has to be signed by the lienholder/lender rather than just by you, if you are the owner/borrower. The signature also has to be notarized so that the document can be recorded.
Disclaimer: This answer is provided for informational purposes only, does not constitute legal advice, and does not create an attorney-client relationship. I am licensed in Arizona and can only provide general comments on matters outside of Arizona law. Actual legal advice can only be provided after a direct consultation in which all of the relevant facts are considered before providing a response.