I have an 18 year old daughter with a 3 month old and I would like her to leave my home. She had some boys over and they stole my property in my home. She is on the lease, but I pay rent and she doesn't work or contribute anything to the household. What do I need to do?

What state are you in?
You give her a written notice that she has XX days to move. If she doesn't then you go to court and have her formally served with an eviction. If she still doesn't leave they will send the Sheriff or constable to remove her from the house.