You may be able to pay the back taxes and redeem the property, but there are time limits. Call the agency that asses property taxes, or talk to an attorney about doing the redemption.
The taxing agency (city, county, etc.) has seized the property in lieu of the taxes owed. It is up to that agency to determine if they will sell the property and return any amount over the taxes due back to the estates or if they will sell the property back to the estate or the heirs if they agree to pay the taxes due.
You may still be in the redemption period, so you could get the home back by paying the taxes owed. See the tax collector for your county. Better yet, see a lawyer to help you work out exactly what will be needed.
If the property has not yet been sold at a tax sale, paying the back property taxes plus penalty will get the property back into your parents' estate and then you need to probate the estate to transfer ownership to the heirs.
If the property was sold for back taxes, then you are out of luck. There is no redemption period for tax sales. If the sale generated more than the amount of the taxes, you may be due a refund of the excess amount. You should either contact the county or have an attorney investigate further to determine where you stand.
Immediately obtain the services of a probate or real estate lawyer that can clear this matter for you; probably a payment plan for the back taxes can be concluded for you in addition to payment of the current taxes; if the title is still in your parents name then a probate will need to be commenced to obtain the title into your name.
If it was sold at tax sale you cannot get it back. The tax sale notices would have been given and your option to keep the house was to pay the taxes or sell the house to pay the taxes.
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