What forms do we need to transfer our father's home to our brother?
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We cannot give legal advice. The following is not a substitute for the advice of a local attorney. But we hope the information will be useful.
If five years have passed, I assume you and your siblings have the deed to the property in your names now, as a result of probate court proceedings after your father's death. You all probably hold the property as joint tenants, probably each sibling having an undivided 1/4 interest if their are 4 of you, 1/5 interest if there are 5 of you, etc.
(If I am wrong and the deed is still in your father's name, you will need to see a local attorney to handle the probate process by which a court will transfer the property from your father to yourselves.)
Assuming you have title to the property (a deed in your names), you all can easily transfer the property to your brother. Simply deed the property from the owners to the brother. You can use a warranty deed (where the grantors promise title is good, and will pay for defense of any future title actions in court), or a quit-claim deed, where the siblings "quit" their claims to the property and leave it to the brother. In the case of a quit-claim deed, if there is ever any trouble about title to the property, the brother would have to deal with it himself. This may make the most sense in your situation.
You have not stated if your brother is paying you and your other siblings for the property. You may want to consult an accountant about tax consequences, whether you are selling or giving him the property.
Links to our quit-claim and warranty deeds are here:
http://www.uslegalforms.com/deedforms/texas-deed-forms.htm
You may have to modify an "individual to individual" deed in order to account for four (however many siblings) individuals to one individual.
Once the deed is signed, it must be filed with the land records office for your county.