I am assuming you have asked her to leave and she has refused. I am also assuming her father is in agreement with you, or if not, that he is not the co-owner of the home with you.
You can file for an eviction in the Justice Court in the precinct where the home is located. Considering the issues involved, you should seriously consider hiring an attorney to assist you, but if you wish to do it yourself, the Justice Court should have forms for you to use.
You will need to give your step-daughter a Notice to Vacate and give her 3 days to leave before filing suit. When the trial is set, you will need to bring proof that between the two of you, you have the right to possession of the property, not her.
Note: This response is: a) limited in scope to questions involving Texas law for a Texas resident; b) is intended only as a general information discussion of an issue raised in the question presented; c) does not constitute legal advice as all relevant facts are not known nor analyzed; and d) does not create an attorney-client relationship.