My car was stolen legally, Is there anyway I can get it back?

It's not stolen legally. The law didn't make stealing a car with ownership papers in it something legal. Here's what you do. Normally a victim of a crime should be able to provide a statement on a police report. A detective would then investigate the matter. It will go to court. You'll win because how can you (the suspect) be the owner of the car without the keys?? If they don't have the keys, it means the car is stolen. If you have the keys in the house, the car belongs to you. Stolen cars have tampered ignitions or re-wiring of some form. Broken glass and damaged key-holes are other examples. A smart detective would also try to find proof of your belongings at the residence of the subject (maybe the trash). Normally people who sell their cars would take their CD's from the car. It's a risky gamble for the person stealing the car. Not very smart in my opinion.

If it was taken - stolen without your permission or knowledge you should be able to swear out a police report and get the car back - assuming the police can find it.

Police and Insurance companies do deal with many cases where people report cars as stolen - when they have really sold them and collected money.

Never, ever leave the title in the car.

no, what idiot cop said that? forging a signature is illegal and they committed fraud.

the car was illegally stolen.