In California, if a vehicle isn't registered for 3 years it drops out of the computer ... UNLESS it was reported stolen (even then it can eventually drop out of the DMV system). I think if you have a statement from the friend you got it from and if a VIN search finds no history of theft, you'll probably be Okay.
I had to get a new title for my bike a couple years ago, but in my case I bought it from the original owner who'd lost the title. But, the DMV didn't have any record of it in their system, so who I bought it from was really irrelevant. I had a statement of facts from him. after paying fees, got a 30 day permit to ride it to DMV for inspection, no problems.