Thank you for the replies, I do appreciate them. My husband and I did give our daughter a 30 day written notice, signed by both us. I will consult an attorney tomorrow just to make sure we are not skirting any landlord/tenant laws here. I don't think my girl would know about them anyhow but truly just because she doesn't know it still would not make it right.
Thank you again.
I know this is difficult hearts, but do yourself a favor. Once you get her out, don't let her guilt you into letting her back in.