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In regard to his real estate assets, your dad will have to issue a deed from himself to himself and his child/children/beneficiaries as JOINT TENANTS WITH RIGHTS OF SURVIVORSHIP......that is the way property is transferred immediately upon death. I'm sure there are sample deeds online to this affect.
As for any other assets or property, the institutions who administer the accounts will have forms that he can use to make the accounts payable upon death. For example, if he has a checking account, savings account, IRA, or other type of account, he would need to check with each of the banks/companies and make sure that each account has a named survivor and that it is payable upon death to that survivor.