Angela - there's no obligation to use a solicitor unless the property is mortgaged. If it is then your lender is likely to need to consent to the update and also insist that you use a conveyancer
If not then our online guidance explains how you can apply to transfer the whole of the title from yourself to you plus your sister -
Registering land or property with HM Land Registry: Change the registered owner name - GOV.UK
You would also need to enclose a certified copy of the death certificate for the deceased joint owner
Land registration is complex, designed to protect legal and financial interests in property. There can be significant consequences for any error. Please consider seeking legal representation. Before making an application without legal representation, It is important to
consider the benefits of using a conveyancer.