Registering a parked domain name

Does anyone have any experience here in taking ownership of a domain that is already owned? I am looking into getting my name as the domain name but it is taken. Although it’s taken, it is not being used. I know there are services out there that will act as the broker in buying them, but I do not want to spend $100+ just for a domain name. I have contacted the company listed as the registrant (which also happens to be a web/email hosting company) about using that domain name with their service but have yet to get a response.

What should I expect if I handle this on my own?

Does anyone know of a brokerage company that will do this for cheaper than ~$50?