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You do not need a written tenancy agreement. You may evict him from the property by following a procedure prescribed by law, or you may make a deal with him to agree for him to move out voluntarily.
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Please see here for information on evicting tenants: https://www.gov.uk/evicting-tenants#:~:text=You%20do%20not%20have%20to,'reasonable%20notice'%20to%20quit.
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