You have two options. The first and best option would be to file a "Motion to Recall Bench Warrant" in the court that originally issued the failure to appear warrant. In the motion, you can explain why you didn't appear for court all those years ago and advise the court of your intention to address and resolve the case. In the alternative, you may file a Motion to Surrender and Set Reasonable Bond and appear in court at the hearing to "turn yourself in" and request a release on your own recognizance, or a low bond amount.
Either option would resolve the issue but as old as your case is, I believe a Motion to Recall Warrant and/or a Motion to Dismiss would be your best option.
In either event, if the judge doesn't dismiss the case due to its age, you will have to go through the normal prosecution process to resolve the criminal case.
I hope this helps!
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