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Since your stepdaughter is an adult, there's no need to worry about any consent from biological parents. You just need to file a petition in family court. There will be a hearing and assuming it appears the adoption is not being sought to defraud creditors or avoid responsibilities under the law, it should be granted. Some states offer these forms already prepared and you just fill in the blanks. Contact your local court clerk's office to see if your county is one of them. Here's a link to forms if you are required to prepare them yourself. Your stepdaughter can join in the petition which further shows your consent to the proceeding.
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