When does the title company get involved?

You should contact a title company at the same time you list your property.  

Most title agencies will send you a competitive no obligation quote and information explaining the closing process.  They can advise you of the necessary steps that you should take regarding the earnest money deposit, payment of any outstanding mortgages and eventual transfer of title to the buyer. Once the property is under contract, contact your title agent and provide them with a copy of the contract and they will take it from there.