Want house back as uncle living in house registered in father's name

Our house was constructed by my great grand father in heart of Shimoga City and he divided house into two parts. One half registered in my dad Name and another half in my grandfather name. My grand father passed away many years ago. My grand father has three son's and my dad is elder among them. Now my uncle isn't letting this house to us. Not even half portion which is registered in my dad Name. We asked them many times but they aren't letting house to us. My father nd his brothers divided 37 years ago. Till the date we are cheated by them and they are not even paying us the rent for living in our home. Now we want our house registered in my dad name. Please suggest me how to take an legal action on them to get our property back and even the rent of the house since they are living there. Please help me out of this. Once wen we asked our house, my dad was attacked by them due to which my dad was in bed rest for six months. Please help me out regarding this.