In any future posts, please make an effort to use something that resembles proper punctuation and sentence structure. Doing so will make it easier for others to read and understand what you write.
they searched the car without a warrant or permission
Since you were under arrest, neither a warrant nor permission were needed for the search.
they found a pipe that wasn't mine
It's amazing how many folks are driving around in cars that have other people's drugs and/or paraphernalia in them.
I borrowed the car from a friend and now they're saying that I stole the car
Who are "they"? Does "they" refer to your friend from whom you claim to have borrowed the car? Or does "they" refer to the police? If it refers to your friend, why do you think your friend is claiming that you stole
his/her car when you claim that you borrowed it? Did you "borrow" it without asking for permission? If "they" refers to the police, what is their basis for claiming that you stole the car?
how do I get out of this .
Depends on what "this" refers to.
You admitted (both to us and to the cop that pulled you over) that you committed the crime of driving on a suspended license, so there's likely not "getting out of" that. You're probably also screwed on the separate violation for driving without a seatbelt.
As far as the car, it depends on how you answer my questions above.
As far as the drug paraphernalia, you're probably going to need your "friend" to admit that the pipe is his/hers. How likely do you think that is?
Bottom line is that you need to retain the services of a criminal defense attorney.