How do I evict without rental/lease agreement?

Question Details:

I co-own property with my mother and the estate of my father. My parents (while father alive) brought home a homeless man and let him stay on our property in return for help around the property and help with my father. All "deals" made were verbal. Since my father's passing he has become less and less helpful and is now no help at all and has become a nuisance. How can my mother and I evict him? He has been here 4 years (approximately). There has never been any written contract and he has never paid monies for rent.

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