HI, many of us have gone through what you and your brother are experiencing. All suggestions everyone has given are wonderful. The key and lesson here I find is that we all should have in addition to a will, a plan for after our demise. NO one(even immediate family) wants to have to untangle the small and big things when it comes to distributing property and items which belonged to your parents.
Yes, attorneys are expensive yet if you are lucky to find a good one with reviews from other people... you are ahead of the game. IT save you a big headache. If you cannot afford an attorney check with dept of aging for your state. or ombudsman for referrals.
For those individuals who still have parents one of the best suggestions I have is to investigate and research into a Miller Trust in the U/S. Internet provides plentiful information or anyone can call an attorney to investigate if this is possible with your family with in your state your parents had a home.

In addition if a parent was a veteran and had income not over a certain amount, ( amount changes every couple of years) there is a housing benefit they can qualify for to pay for nursing home or assisted living. This is a great benefit so many people do not know about.

Indeed donating items in home which could serve other people is a great idea. There are so many organization that help a variety of people. not just homeless or a tax write off is possible like to organizations such as goodwill, unwed mothers groups, discharged prison population, fire victims who have lost everything. Your local fire department can provide information on families who have lost all to a fire. Habitat For Humanity will also take furniture and clothing to resettle people needing to rebuild their lives. There are also individuals who will do estate sales for you. They do take a percentage of sale. THe rest you can advertise free by curb of street.
This is where having a will no matter what age we are is so important. An attorney would be able to help you designate what property or funds you wish remain within the immediate family on maternal or paternal line. Dealing with the aftermath of parents funeral can cause great anguish and stress due to so many things that must be addressed. On the sale of a home a trust can be set up for grand children educational purposes or after even to help for wedding expenses for grandchildren.

Best of Luck and you will be fine.... it just take time and patience with yourself .