I allowed a woman who didn't have anywhere else to go. My step dad owns the place and there is no lease signed between us and her. She has illegally locked me out not once but twice (the first time was when her boyfriend and her were in my house doing God only knows what in my house the 2nd time was when she locked my storm door she says that she didn't but I couldn't open the door and the only way to lock it is from the inside) she has yelled at me before once for using my stove, and the second was for my fridge. She hasn't done anything like pay rent or anything. We already asked Henrico PD about it for she keeps saying that we have to go through the court system but 2 Henrico PD officers said that since no lease or any other legal document was signed between us and her than we don't need to. My step Dad asked her 36 days ago to leave (after she locked me out she last time) and gave her 200 dollars to move out but she is still there and won't leave. Any advice? Thanks!

First - where do you live. Henrico could be anywhere. Laws vary by locale.
(If the local police say you don't have to evict in court, lucky you. Usually you do have to give them a written notice of termination, followed by court eviction.
Why haven't you changed the locks instead of paying her 200 and allowing her to lock you out, since the police are so helpful?)

I would be very cautious about following the police advice here. If they are advising that you don't need to go to court to remove her, then ask them to escort her from the house. Have a locksmith ready to change the locks.

But, unless the police will escort her from the house, you need to evict her legally. Since the house belongs to your step dad, you should both sign a letter advising her to vacate within 30 days (your step dad just asking her to leave is not enough it needs to be in writing).

If she does not vacate within the 30 days, then you go to court for an eviction order.