We have a 24 year old son living with us. It is time he leaves the nest. There has been issues that the police have been called for domestic violence from our son. He does not pay rent and has a full time job?

You can give 30 days notice to vacate as you would a tenant, and start eviction if he isn't out by day 30. Call city hall for the place to start eviction.
Or, you can get a restraining order based on past violence, and the police will escort him away if he doesn't leave.
Or you can give written notice of rent due in 30 days, making it a market rate to discourage him from paying it and staying, and evict him if he doesn't pay it.
Only you know how he might react and which course is best. If he gets violent again, call the police again, and have that RO ready to file right away even if you were just holding onto the papers.

Reading between the lines, it sounds like he runs the show and you need to get some support in being strong and firm about this.

The law is the same for evicting any tenant. Since there is not agreement to pay rent, you serve a 30 day notice to vacate. If he doesn't vacate within the deadline you file for an eviction order.

If you can prove domestic violence, the next time he tries you call the police and try to get a restraining order . That could get him out sooner.

I appreciate your answer and I KNOW he runs the house. I am the step mom and his father is VERY strong with most things and I don't know he is not strong enough with his son. He came to live with us when he was 16, finish school (private school, which didn't help) then leave our home and move back in with his mom. Well, that never happened and he, in my eyes, has worn out his welcome. He is not the most pleasant person and he LIES constantly and is disrespectful most of the time to us. HE NEEDS TO LEAVE... it will come down soon to me or him... my patience is running out!! Thank you for letting vent... and also your help with eviction.