My car was stolen the insurance comp and gap paid it off it has now been recovered undamaged do I have to pay for it

At this point, from what you've already said, it's paid for, by the ins company and the "gap" ins company, so it's their vehicle techically. Why not ask both them and the lienholder, if there is a lienholder, what you should do to get your veh back, etc.

In general after the insurance company paid you for it, they actually now own it, since it would be similar to being "totaled"
So you would have to turn the car over to them. IF you wish to keep the car , yes most likely some buyback would have to happen.