Provided it's not to avoid the proeprty being at risk for paying for care or there's a risk of either parent becoming bankrupt in the next 6 years then it's a simple form providing there are no other restrictions on the title register requiring something to be done before a transfer can take place.
The form is a TR1 which would need to be sent to the Land Registry with form AP1 and a fee of �40.00 if no money is being paid for it.
You can get a copy of your title here...
http://www.landregisteronline.gov.uk/
The forms are downloadable here...
http://www1.landregistry.gov.uk/publications/? pubtype=1
You find your Land Registry here for extra advice...
http://www1.landregistry.gov.uk/regional/