Well, you state it was a misdemeanor, which means the statute of limitations on the crime has likely expired. Were you charged with the crime or was it for parking tickets? Your best bet is to contact the courthouse in the county where the warrant was issued and talk to the prosecutor. They won't care so much that you did or didn't do it, just that you skipped town. If you talk to them first, before it comes up on a state patrolman's computer or something, there is a good chance that the judge will "quash" the warrant, or just give you community service.
They are usually much more lenient with people who come forward, as opposed to people who are apprehended.
If it was for parking or traffic tickets, they will likely just prohibit you from driving in the state, and are likely to be more lenient if you offer to pay a reduced amount.