Equity Shares and the company's responsibility for Transfer.

Dear Sir, I had some equity shares of various companies which were stolen a long time ago. As soon as the shares were stolen I had filed an FIR and instructed the companies to stop transfer of any of these stolen shares. They responded saying that a restraining order be obtained from the Court directing them to stop transfer. I did exactly that after filing a title suit against the companies obtained the necessary injunction. This was 10 years ago and the company is retaining the shares even bow but has been sending the dividends regularly. Unfortunately I could not follow up on the suits and the same were dismissed for default about 7 years ago. The companies continued sending dividends. They are even now ready to give the shares back but say they need a court order to do so, even though they are well aware that the suits have been dismissed for default 7 years ago! My query is how can I get the shares back without a long drawn legal issue again. They have mentioned this position of theirs in a letter also. Please advice.