Need a property transfer expert

1)My grand mother got a property from her Mother and the property was mentioned as non sale-able gift in the deed.We have the original deed saying this. 2)She died without writing Will and her 5 children carried over the ownership of this property without any documentation or legal formalities.Grandfather died too. 3)Out of 5 children,2 daughters got married and relocated to different city raising their family.One of those sister died 10 years back leaving her family behind. 2nd daughter is still alive and living with her family. 4)Out of 3 son,one dies without marrying and left no family. 2nd son has 4 kids and 3rd Son has 5 kids.out of these 9 kids,we are three brother owning the ancestor property without any documentation/deed/will. We want to know what are the legal options for us so that we can transfer the property in our name(3 brothers) and clear the title on our-self so that there will not be any litigation in future in case if we decide to sale or develop in partnership with builder.We want to make proper documentation of this land and then develop it for some rental income. Its a residential property in Jharkhand.