I'd talk with the attorney who handled the bankruptcy to determine your options.
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Some of what you have said does not make sense. One does not usually give a life estate to someone and have them also be the remainderman - that basically gives them the property in full. If this is your bankrupt child's creditor, your child needs to consult his/her bankruptcy attorney and consider reopening the case to deal with the lien, which is only against that child's interest.
It isn't a creditor's job to remove a lien on homestead protected property, it is the Debtor's responsibility. If the Debtor fails to do this promptly, the case will have to be reopened in order to remove the lien when the Debtor's attorney figures out how to practice in bankruptcy court. Hope this perspective helps!
It appears as though a motion to reopen the case needs to be filed in order to file a motion to avoid the lien. Although the debtor was discharged, the lien still remains on the property. How much is the lien for? it may be cheaper to to settle the lien then retain an attorney to go through the process.