Has anybody here gotten in Graduate School with a low undergrad GPA?
Yes, a few people have, not many.
How can I make up for this?
It will be hard and will take some time.
First of all, you need to identify exactly why you got such a low GPA. And I mean the real reason, not whatever you tell/told yourself to feel better about it. Then fix it. If you cannot, then you will flunk out of grad school even if you get in.
Second, you need to demonstrate academic excellence. The best way to do this is to find some reputable university that will allow you to take some grad-level courses related to your desired grad specialty. Then ace them all. Take a bunch - I would say you probably need at least 3 solid A's, and probably more.
Third, get some experience in the field that will garner you some research credit and some contact with people who will write letters for you. This is often one of the most difficult things to do for people out of school, but it is essential - you really need someone to attest to your excellence in doing what grad students do. It REALLY helps if these people are professors as well, especially if they are at your schools of interest.
Fourth, get a better GRE score. Not sure why your GRE was low to start with, but fix it.
Finally, broaden your aspirations. I am presuming (from your dread) that Yale is a top school in Art History, and that means you are competing against people who had near-perfect undergraduate records. Considering your starting place, you may need some astronomical accomplishments to make them pick you over Paul Perfect with his 3.98 GPA.
Like I said, this is not complicated, but will likely take years and many thousands of dollars, just to get to the point where SOME grad programs will take you, much less TOP programs.