[Skunkworks] Domain Transfer Problem

The is a local company that is becoming stubborn to transfer a domain for the last 3 months. The client still receives his mails and the website is still hosted by the company but he does not owe the company anything and he wishes to transfer his domain due to poor services he received recently. He has requested the transfer to another company but these people are just being stubborn and are not authorizing the transfer on their side. Is there some legal action one can take against them or what channels can one take for them to surrender the domain to the new company? ~.~.~ Andrew Kiptoo T : +254 722 956 934 T : +254 732 956 934 E : andrewkiptoo@live.com