How to ask my daughter and son in law to leave?

My daughter got married at 19 to a jerk. He is rude lazy does not work and is disrespectful ( the other day he just opened my door to get the dogs to go out and did not knock first) and cont. to hit my dogs. She works and does everything to make sure he does not have to do any work in the house.If I ask him to do something she takes his other job ( he suppose to clean the living room ) I wan them to leave and get there own place. this is there third time moving in. I keep trying to help them for my grand daughters sake. She is also getting rude now also. I really want them to leave. She has income but he does not . They lied and said they would both be working. Help!!!!!!!!