I sold my car for 200 doller with a bill of sale to a old friend and I'm 18 but my mom has the title and she is saying I have to take the car back because she not letting me sell it or giving me the title

If the title is not in her name, she can not refuse to give it to you, you merely go to the DMV (or proper office in your area) and get a replacement title.
Your friend can sue you for the money back or even other damges if you don't.

There are tons of other legal issues where, if the friend has it, does it run, if it runs how is he driving it, since it can't get tags, Who is paying for the insurance on it now ?