In the settlement deed, your mother had lifetime interest alone.
The property stands transferred to you and your brother after the demise of your mother as per the recital of the settlement deed.
Now you and your brother can enforce the settlement deed by applying for mutation of revenue records and transfer of all other records on your names jointly.
Alternately, if you do not want to continue with the joint possession, you both can enter into an amicable registered partition deed and divide the property into two shares as per your mutual understanding/terms with separate possession of each share to each other.
No doubt a lawyer can help you to go through the process, but you can do it yourselves amicably too.