how do you transfer a automobile title over if owner is deceased?

the owner passed away there was an agreement drawn up by a lawyer at the time of the loan stating that all payments were being made by my grandmom and she was the owner and driver of the vehicle but the loan got approved in her friends name she paid the last few thousand just last week so shes just waiting for the title to arrive the friend left her daughter as power of attorney so what needs to be taken to the dmv. by the way my grandmom lives in PA and is moving to NJ so which ever state is easier she will use to get the title in her name quicker and at no inconvience to the power of attorney who lives in NJ

When my mother-in-law passed away we had to have a copy of the death certificate to change the title.

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