My mother-in-law bought a modular home in New York and never got a title for it. She passed away and gave it to my wife and I. how would I get a title for it now in order to sell it

Need to make something clear to answer your question. When you state that it was a modular home. What type of home do you really mean. A true modular home is built elsewhere and then shipped / reassembled to the jobsite and erected. The other type that can be called modular is a mobile home. These are 2 different structures and treated differently.

As cdad said, These are different types of homes. A modular home is generally treated the same as a built home. In that case, there is a deed to the property it sits on that will include the structure in the property description. However a mobile home is generally treated like a motor vehicle and title is registered through the DMV.

In addition to cdad's question, who owns the land it is sitting on?

Also, how was the home left to you? Via a will or just laws of inheritance?