I will try to answer based on local customs and not tax laws. If your family is using it, I presume you are not making any money from them, and should not have to report any taxes. Unless the property is a mansion and has huge rental in the market, you can also write it off as a gift to the family. IRS allows about 10-15K gift every year, no questions asked ... and this is for both husband and wife just in case the property is in joint name. Also, you can give this 10K gift to brother 1 (for example) and another 10K to brother 2. Up to 50-100 K property usage might be justifiable as such. There are no gift taxes for gifting to blood relative (brother, sister, parents) in India.
If you are getting rental, then you have to pay up.
Paying tax in India is not hard. Get a PAN #. Go online and pay. Nowadays some companies even help out with the paperwork. Your family might know. You would be able to take a tax credit for taxes paid in India against the US taxes (did I frame the statement right?) as long as you are reporting this income on both sides, which you should be.
However, all this is guesswork based on common sense and what I will do if my brother / sisters were going to use this property without paying rent. Do wait for others to chime in, or ask a tax advisor.