I allowed my 43 year old daughter to stay with me until she could find another place to live after being thrown out of her place. She has been with me since June 1,2009 and has no key to the residence and has paid no rent or utilities since she has been here. Since she has been here her behavior has been poor and has been abusive and screams at me when she doesn't get her way. I have ask her to leave in January and she keeps threatening me and stating that she doesn't have to go. How can I get rid of her?

Evict her, give her written notice ( depends on where you live but 30 days is average) and if she is not out, take her to housing court and evict her.

Ask her to leave and if you have too , get the local authorities to intervene on your behalf.