I have removed old grout months and years later just with a sponge and water and some elbo grease. Go to a good tile store and buy some professional grout remover if this isn't working.
If it is in the grout joints, do you mean on top of the grout or inside the grout itself, meaning it was on the side of the tile when the grout was put between the tiles and it now shows on the edge of the tile in the grout.
If that is the case you have to remove the grout, remove the thinset, regrout.