LAWERS HELP ABOUT A LEIN ON ROPERTY.....?

My husband worked for a company who didn't pay him 4 weeks worth of work, & a bunch of expenses, All totaling around $6,000.00. The last day my husband worked, they told him to go get this truck and keep it at our house, & take all of the companies stickers off of it. Well this was a month ago. Since them, my husband has tried calling them & they wont return his calls. We recently found out that most of their company trucks have been repossessed\sed. Sounds fishy to us, but we ned our money, and they wont contact us back. We were told that we could put a lien on the truck. What exactly is this? How do you file a lien? Is the court involved.... etc? Thank you for helping us.