Try going to carmax like Gomer has suggested and see if you can trade it in. But instead of simply taking the hit for what they will buy it for, see of they have a small car that you might be able to get out of there with half the payment, then you will have a decent car that you can drive back and forth to work.

Next step is to clean up, fix up and sell the other (spare) car for however much money and put that money in the bank for an emergency fund.

Third step is to do a budget and between you and the wife figure out how you guys are going to save up about 6 months of expenses.

Fourth step is to stick with it.

Fifth step is to get the two cars paid off and not borrow any additional money while you are at it.