How do you evict someone from your house?

My parents want to kick my stepbrother out because out of the almost 6 years he's lived here, he's paid less then 3 years rent and hadn't paid rent in over a year. That and every rule my parents have set he has broken. They've told him to leave but he said he won't go unless they take him to court. I tried doing my own research since my mom's at her wits end, but everything I've read tells me to do something different. One said that we need to give him a notice and if he doesn't leave by the time stated on the notice then we can have the cops remove him. Another said the something except that we had to take him to court to get him removed. Another saying he had to get a lawyer. What do we do? Please help!