I have bought a car with a finance agreement from a friend, can this be taken?

Yes

But you will need to make a third-party claim to controlled goods,^[1][2] together with your damages and costs.^[3][4][5]

If the finance agreement by tour friend is not a regulated agreement under the Consumer Credit Act 1974,^[6] the bailiff company will vigorously defend your third-party claim.

In addition to showing evidence of buying the car, for example, a bill of sale, taking out insurance on the car and having possession of the service history documents, you must have a properly drawn up contract, witnessed, and show the flow of money from the buyer to the seller.

Without being able to show compelling evidence the sale of the car is genuine, making a third-party claim in these circumstances will be difficult.

You might be better to use a secured car loan, and you no longer need to bring a complicated third-party claim, instead you apply for an injunction to recover the vehicle.^[7][8]

Use caution about approaching a car-secured lender, because you are selling the car to the lender as collateral for the loan, and the lender can take the car without a court order.

^{[1] Civil Procedure Rule 85.4
[2] See Making a third-party claim to controlled goods
[3] Civil Procedure Rule 46.5
[4] Practice Direction 46.5 Rule 3.1
[5] Civil Procedure Rule 44.2
[6] Section 8 of the Consumer Credit Act 1974
[7] Section 4 of the Torts (Interference with Goods) Act 1977
[8] See Getting an injunction to recover a hire-purchase car}