If you didn't have any pink slip or title records, the DMV would do a VIN verification. Depending on which office you go to, they have an inspector come out and read the frame and engine VIN. Then they process a new title for you. You might get sent to a CHP office if the DMV decides not to do it.
Where are you? I just had this done on a KDX at the San Clemente DMV.
I'm not sure what they would say about your pink slip. I assume you have a separate bill of sale for your transaction. Should be OK.