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A verbal agreement is enforceable, it is just more difficult to prove when there is nothing in writing.
If your daughter and son in law agreed to do work on the house as the compensation for being allowed to live there, and then reneged on the deal then you can sue them to complete the repairs or pay the money required to complete the repairs.
If the claim does not exceed $7000 you can sue in small claims court. Small claims court is designed to be "user friendly" so that you can present a claim without an attorney. Also, it moves much more quickly than regular court. You can get the necessary forms to start from the clerk of the court.
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