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You have to evict them, just as if they were renting from you and had failed to pay the rent. An eviction is the legal process used to remove someone from a property where they originally had a legal right to be.
You can either file the papers yourself, using the process described at http://www.arlegalservices.org/system/files/FSLandlordTenantEvictions.pdf or you can hire alawyer to handle the eviction and then sue for your attorney's fees as well.
There is another possible option, although it really doesn't fit and seldom works. You can ask the local police to issue a "criminal trespass warning" to the person giving them until a certain date to be out of the property. Usually the police will tell you that "it's a civil matter" and refuse to issue the warning but occasionally one will cooperate. Legally, you must use an eviction since the person was on the premises with permission in the first place but the criminal trespass is a shortcut if the police agree.
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