How to best sell a car with a lien?

I'd like to sell my car which is a 2009 Impreza. I have a lien through JP Chase. I have some negative equity, but I'm not that worried about that part. I can pay that off at anytime.

Now my question is would I be better of trying to trade the car in to a dealership, or should I try to sell it private party? When I called chase they said I could pay off the negative equity, have someone pay the balance, and then they would send the title to the person. This really doesn't really seem feasible... Is there a simpler way that maybe I don't know about?

Thanks in advance to anyone who post a reasonable response.