You should consider hiring a criminal defense attorney to handle this for you. The attorney could confirm the warrant and contact the office of the prosecuting attorney. In speaking with the prosecutor's, he could check on the validity of the facts behind the warrant and, if you are correct, potentially have the warrant dismissed.
In theory, you could handle this on your own. However, if you contact anyone directly, you run the risk of being picked up on the warrant and taken to jail. If you can explain the situation thoroughly and you get an understanding prosecutor, you may be able to work it out but you may not be so lucky.
As to the length of time involved, unfortunately, this is not terribly unusual. While law enforcement attempts to serve warrants in a more timely fashion, this does not always happen. On the plus side, the sheer passage of time probably benefits you. Assuming the allegations are true, it would be all the more difficult for the prosecutor to prove his case when this occurred more than a decade ago. This is certainly something that an experienced criminal defense attorney could use to your benefit.
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