Transferring legal ownership to offspring

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Can’t seem to find this info on Google/gov/land registry…

How do I go about removing the now deceased parents’ names and putting the children’s names on the deeds?

They have equal share of the property, they are adults and the remaining parent died years ago…

Is the AP1 form correct?

And have I understood correctly that no SDLT will be payable as there’s no outstanding mortgage?

Thank you in advance if you can help!

You need an Assent (like a Transfer but for if the property is inherited), grant of probate and to know how the parents owned the property. Death certificate for the first to die if they owned as joint tenants.
Then you send it all in with the AP1.

Best to instruct a solicitor really.