The capital gain exclusion of $500,000 also applies to federal income taxes. Your cost basis for determining the amount of gain to report will be the fair market value on your parent's date of death not their original cost basis.
You do not have to transfer title to both names to claim the $500,000 exclusion amount as long as one of you have owned it and you file a joint return.
http://www.irs.gov/businesses/small/industries/article/0,,id=98921,00.html
See page 13 for "Married Persons" - http://www.irs.gov/pub/irs-pdf/p523.pdf
http://www.ftb.ca.gov/individuals/faq/ivr/219.shtml
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