There are services that can assist you. However I do not have any first hand knowledge of which services are better than others.
One option for you is to submit an Offer in Compromise. This is a proposal to the IRS to settle the amounts owing for some amount less.
I am providing a link to IRS Publication 656 that explains the process. There is no requirement that you use a professional to assist in the preparation, but it may help. An enrolled agent or CPA in your area may be able to assist.