Do I have squatters rights to this small piece of property?
I live in Bridgewater Massachusetts in a home that my parents bought in 1958 and I purchased in 2007. Back around 1962 my father got permission from the adjacent neighbor to extend a driveway parking space onto the neighbor's property. The parking space is angled such that a corner of the parking space at its furthest corner extends about three feet onto the neighbor's property (about 30 square feet max). This parking space was then asphalted to blend in with our driveway. So, we used this parking space since 1962, about 50 years. Then both the neighbor and my father died about three years ago and the neighbor's house was sold. The land that our parking space extends onto is actually another house lot that was grandfathered to the neighbor's property. This lot was sold separately after the neighbor died. The lot was sold to a real estate company. A house was built on the lot and the house was sold to the people that now own it. The house is rather large compared to our house and is located 26 feet off the property line. The small part of the parking space that extends over the property line is on open land near the street does not in any way pose an obstruction to the neighbor's house or property. During the sale of the house, the real estate person told the owner that the parking space was still used by us. The owner at the time said that he did not have a problem with that and bought the house.
Now the neighbor is demanding that we stay off his property and does not want us to use the parking space because it is on his property. He can't afford a fence and has erected a chain along the property line. We have welcomed the neighbor when they moved in and have done nothing to provoke this behavior by the neighbor. Do I have squatters rights to this small piece of property that me and my family have been using for the past 50 years?