You just need to find a good golf shop in your area that works on clubs.  The same place you get your grips done can likely assist you with loft and lie adjustments.  Make sure you get BOTH checked and adjusted at the same time.  You can usually have this done for around $30.

I've heard that if you have the club bent by anyone besides Titleist, this will void the manufacture warranty. is this correct?

two things based on the information I have seen before:

1. Titleist clubs normally have specifications that include lie angles that are one degree more upright than most other major brands. For example, with png I normally need two degrees upright, but with Titleist I only need one degree upright to obtain the same effect

2.  Titleist makes special AP1 irons that are cast from the factory two degrees upright. This is what you get if you order them that way.  Of course, Titleist can also bend standard clubs to two degrees upright.