You'll have to submit the motion relief from automatic stay to the court clerk with the consent order. There's actually no filing fee required if a consent order is tendered with the motion. You can always talk to the clerk and find out about the other requirements.
Are you asking how to file the motion or how to draft one? To obtain relief from the automatic stay you need a valid legal reason that the debt must be paid. Generally you need a lawyer to draft this sort of motion for it to have much chance of success.