My father died. he had no will or poa. what happens to his things?

my father just ped away and he didnt have a will and never named a POA. how do we divide up his things? its just me and my younger brother left. (dad also has siblings- one of which is trying to control it all). there are a few vehicles. one of which has 1 year left of payments... we all agree that i can take it over BUT is it legal? if i pay it off and try to switch the title will i run into problems since there is no will/poa? does any one have advice? thanks!