Without addressing issues regarding the transfer between family members or what may or may not have been “intended”, once a deed is signed and filed with the appropriate county land office, the property is deemed transferred.
A fully executed and filed deed cannot be “undone” except, in some cases, through legal proceedings as to challenge the validity or legitimacy of the transfer, either by fraud, coercion, etc.
So long as all of the current owners listed on the existing deed on file agree to the transfer, a new deed can be prepared by the current owners to transfer the property as desired. To create this new deed, you can use the Quitclaim Deed legal forms software available from Standard Legal.