You do it though the Dept of Motor vehicles. First, call them (if you can) and tell them what you have and what you want and see what they want you to bring with you. They will probably tell you to come in with the death certificate and fill out an affidavit that you are the rightful person to receive the car. They may require something from other siblings or if there is evidence of a spouse still alive if they know there are others. But if there is no complications, you should be able to get the title put in your name without too much trouble and without having to go to court.
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