Your leasing company should send you the title, showing the lien has been cleared. Then you can come in to a tag office and get a clear title if you wish, or you can keep the old title showing the lien release.
I would suspect that the leasing company would have to sign the title and submit paperwork to the DMV, just as if you were buying the car. then, after a short while, you visit the DMV and pick up your title
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