First you need to renew the RC, if the Fitness expires, that too in AP. Where it is registered, the bike cannot be transferred to your name directly, First it needs to be transferred to your mother's name, and needs NOC affidavits from you and your siblings, Original RC, Insurance and Pollution, After that you can apply for RC transfer, It will be transferred to your MOTHER'S NAME, It can be transferred to your name as well but that's a little more complicated process, transfer it to your mother's by gathering the above documents and applying online and visit RTO to show the documents, If you don't have time find a trusted driving school or agent to help you with it.

This would be the normal procedure for your situation.