Your first step is to call the department of motor vehicles in his state to see what the procedures are for obtaining a new one. Also, tell them he has died. Perhaps there is a way with a presentation of his death certificate alone to get the title reissued in your name. If not at least get the title to be sent to you. Then you can then have the title reissued in your name either by a notary process or setting up an estate administration.
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You should contact the Mississippi Department of Revenue, Title Bureau, and fill out the appropriate paperwork. Their web address is http://www.dor.ms.gov/title/main.html. You should not need to go through probate simply to transfer title to his heirs.