Small estate affidavit. The form is on Harris county clerks website
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Based upon what you have stated and what I know of Texas law, the small estate affidavit option would appear to be an option. There is very good information from Travis County at http://www.co.travis.tx.us/probate/pdfs/small_estate_affidavit_checklist.pdf. As you can see there are potential traps for the unwary. I recommend you work with experienced TX legal counsel for best results. Best of luck to you.
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I agree with Messrs. Dick and Schemmel, but I second Mr. Schemmel's warning: Compared to many states, Texas has a lot of flexibility in small estate administration without going through full probate. But one almost needs a lawyer just to confirm that one can proceed with relative safety without a lawyer. With $10k at stake, it might be worth your while to consult a qualified trusts & estates lawyer -- Avvo.com's a good resource for finding one in Houston -- if only to answer the additional questions he'd ask to confirm that you probably don't need him. (I don't even know all those questions, but you might be able to find someone who'd cover them in a free initial consultation.)