How do I get this car registered with plates? ):?

okay, so here goes the long story.
my dad married a mexican and has a house with her on the mexican border. He had this truck registered in texas before he married her. When they got married and he never used the truck again.
it´s been 4 years i believe, and now i NEED the truck so i can pass the border to go school in Texas
it has plates from texas, but i think they´re old... so what do i do to get new ones?
and not to mention, my dad lost the title to the truck.
so what do i do to get a new one aswell?
i also want to know how much i´ll have to pay for the two..

ALSO, i´m only 17- and i don´t have a drivers license from America, i have one from Mexico.
but the problem here is, that my dad works 3 to 4 months without coming home.
and my step mom can´t cross the border with me to get do this..

HELPPP ME PLEASEE. (:
 
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