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A lawyer should tell you about everything involved in your case, and offer legal advice and counseling. If they disagreed with your decision to reaffirm a vehicle, they could tell you their thoughts, but they cannot make the ultimate decision for you.
I am sorry I do not know of anyway you can now go back and reaffirm. Have they picked up the car yet? If not you may be able to contact them and see if you can redeem the car. See if you can just keep making payments and keep the car. They do not want your car, so at this point I would deal directly with the lender.