The DMV office gave my Mom a hard time when my Father passed away. The car was listed in both names plus and or survivor. The lady kept pressing my Mom for his will. Imagine her surprise when one of the higher ups happened to be a friend of ours and made an appearance to this lady at the DMV and told her she was not entitled to see my Father's will and she would immediately renew the tags because the car was in BOTH names and said survivor! After 4 trips, she got her tags. It would be best in this case to seek legal help.
DMV need to see proof that they left the car to you. Copy of their Last Will and Testament or their Non-Revocable Trust is proof.
You need the death certificate and then register the vehicle in your name
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