How do I make a small claims suit, or begin mediation?

I bought a car from my cousin for $600. He gave me the bill of sale and said he would be back the next day with the title. Because it was family, I didn’t think I would have any problems. Three weeks later, I still have no title and he won’t give me my money back. Come to find out, when he bought the car a year ago, he never took the title to the court house to have it switched to his name. Legally, the car is in someone else’s name. My husband and I have sent him countless messages, and he will not take the time to look for the title. That, or he simply cannot find it and doesn’t want to pay us our money that we are owed. I want my money back! What is the least expensive and most efficient way to get what I am owed?