Purchased leased truck years ago....

received title from lien holder. Never transferred it with the state, so my registration still shows it as a lease. I am getting a new car soon (not truck). My truck is not worth much any more but I may want to hold onto it just to have a truck when me or my father needs one. But if I don't and I want to sell it, how do I transfer the title into my name without incurring penalties that exceed the value of the car at this point. Is that even possible?