I think you'll find it's going to be very difficult to effect a transfer of title from a deceased person without probating the estate. Someone needs to be authorized to sign on behalf of your father, and that's going to require a court to appoint an executor/personal representative.
The estate would need to be opened in the county where your father was living when he passed away. It is possible to do this on your own, but you might be better off hiring an attorney to do it for you. I do probate work, but Coopersburg is a little outside my practice range. Contact a probate attorney in Allentown.
This answer does not constitute legal advice and does not establish an attorney-client relationship.