A foreclosure was improperly served. The attorney that was handling the forclouser has been fired for wrongdoings for doing ROBO signature to forclose on the property. The mortgage should never been forclosed upon

I highly doubt that you will be able to do this without an attorney.
You can try, starting at your deeds office, bringing all the documents about his firing, your payments on the loan, what your lender has to say about all this, and so on.
They may throw up their hands so also try your state Consumer Protection Div of the AG's Office, starting with yourstate.gov.

How far has the foreclosure gone, and what state is this?

I am not sure you can get a quiet title,but you may get the foreclosure over turn ( depending on how long ago it was)
And was the property already sold to a third non related party ?

Since you will still owe the mortgage, even if you get the foreclosure over turned.

But this will require an attorney