If the police have told you your vehicle has been taken by bailiffs in any London Borough then call TRACE on 0845 206 8602.
TRACE is a private company owned by Capita and it holds details of vehicles towed by any London Borough for parking offences or if the vehicle is abandoned under Section 101 of the Road Traffic Regulation Act 1984.
If the vehicle is taken by a private bailiff company as a lien for an unpaid debt, then the police should be able to tell you the name of the company or council that has taken it. See Evans v South Ribble Borough Council [1992] QB 757. The debtor can sue for damages, as in Bishop v Bryant & Others [1834] 6 C&P 484, even if the over-seizure was a mistake (see Smith v Torr [1862] 3 F&F 505).
If there is no levy on the vehicle before it was taken, then the taking of the vehicle may be unlawful and you may have a right to claim damages.
You can also sue the council or creditor for excessive levy. There is substantial case law under which your case can be brought. If your vehicle is an exempt vehicle, or on HP or finance, you may be entitled to compensation. You can also sue the council or creditor for damages if your vehicle was under-sold or damaged. Refer to Featherstonehaugh v Steinway [1887] The Times, February 3rd, 3b, QPD or White v Heywood [1888] The Times, December 5th, 11c, QBD.