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Since your brother has lived at the house for several months, your dad would have to file an unlawful detainer/eviction lawsuit against your brother.....even if he doesn't have a lease or pay rent, your dad would have to file suit against him in general sessions court.
Once he is served with the summons, the court will set a hearing date....and the judge will order him out at that point. Then, your brother would have to vacate or the sheriff's department will come and physically remove him and his things.