i had problems paying the finance on my new car?

i ended up phoning the finance company and telling them i could no longer make the payments. they said they would come to reposses the car. now two years on they have not come to get it and the car is in my driveway. i have made no payments since and heard nothing from the finance company. am i still the legal owner of the car, and can i legally put it back on the road. i live in the uk and paid over 50 per cent of the finance before i ran into financial difficulties.