Removal of a satisfied lien

We had both Federal and North Carolina Dept Of Revenue, file liens on one of our houses in 2008. The liens were for unpaid WITHHOLDINGS. The debt has been satisfied for several years now. The Federal Lien has been removed. And although the NCDOR State balance has also been satisfied the lien has not been removed. The liens are set to age off, but not in time for the sale of the property. Looking for the cost for help in getting the liens removed