Missed the court for uninsured vehicle and unregistered car which was 10 days ago.what should i do?

i used to have two cars when there was a better economy and when things went bad i had two houses forclosed and missed my insurance dead lines a couple of times partially because of change of address.i got insurance for my cars right after i was arrested but the fine i have to pay to MVA is almost 3500$ and they wont accept in in a payment plan !!! so i havent been able to renew register my car for a year and i was caught twice .one of the cars was a company`s car and is returned and the one i owed is in possessions of bmw since i was behind with the payments.i missed the court (10th)date and mistakenly though it is today 20th and when i went there they told me there is a warrant for me and i have to turn myself in to county police .what should i do and should i also get a lawyer . i am soooo down financially and dont know what to do