A bench warrant is issued when a failure to appear in court occurs. To clear the warrant, the person must appear in court. Your bail company can prepare a motion to the courts for this purpose, and if all other court appearances are met (medical conditions are the exception) the bond will be exonerated. A bail company can be a filter between you and the courts. Some processes are within the normal scope of business for a bail company, such as filing a motion, or appearing in court with the defendant.