Do legal heirs are responsible to pay debts of deceased?

Hi, My father died in October 2013, he had taken some loan from a private bank in year 2008. We didn't inherit anything from him. The house in which we are living is registered on my mother's name even before his death. Now in these three years bank send notice to our old house and they didn't know about my father's death. Now someone told them the address of our current house, so they sent a notice to me, my mother and my sister that being his legal heir we are laible to pay his debts. At first, we ignore the notice but then someone from recovery office came to our house and told us that our house has been put on the sale for recovery of my father's debt. So my question is even we didn't inherit property after his death it is already registered with my mother's name before his death. Are we still liable to pay his debt. Even we consult with laywers nobody is giving appropriate solution, they are just taking advantage of our situation and charging heavy amount for each date and now they are telling us that the court has put our house on sale. Please advice me what to do in this situation, We are all in stress.