You have to issue a legal notice through your lawyer demanding your money. If they still do not make the payment within the given notice period then you may file a civil suit for recovery of money. You can also claim damages for harassment and litigation charge with court fees.
A written instrument between parties is not essential to establish an agreement. Oral agreement or conduct of parties also constitutes valid contract. In your case by their conduct both parties have established contractual relationship. You can file a suit for performance of contract and recovery of your dues.
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