In the state of Florida, the brokerage who your Real Estate Agent worked (or still is working) for is required to hold all records of a transaction for several years. Usually (in the state of Florida) the Seller chooses the Title Company, however, if you've forgotten, contact the brokerage who your Realtor worked for at the time he/she sold your home, and ask them for the Contract for Sale and Purchase. On the Contract for Sale and Purchase SHOULD be all the information about the Title Company that you'll need.
Best Wishes and Warm regards from "The Sunshine State!" :)