What is the procedure for transfer of title of property from Joint owners to single owner?

My Father had purchased the property in Ahmedabad (India) 30 years ago, which was jointly registered in the name of my FATHER, GRANDMOTHER (Deceased), UNCLE & AUNTY.

Now today, we want to transfer the title of the property in the name of my FATHER with mutual consent of Uncle & Aunty without any dispute.

What is the procedure to do so? Are there any charges to be incurred? Is there any stamp duty to be paid? Please elaborate!

Thank you!!