AceShowbiz - Richard Simmons' family and his longtime confidant Teresa Reveles are locked in a legal struggle over the late fitness guru's estate, with both sides arguing over the rightful execution of his final wishes. On September 25, Teresa, who had worked as Richard's housekeeper and close friend for 36 years, filed a petition against his brother, Leonard (Lenny) Simmons, and his wife Cathy.

Teresa claims that she was coerced into relinquishing her role as co-trustee of Richard's estate shortly after his death while she was emotionally vulnerable. According to documents obtained by PEOPLE, Teresa alleges she signed papers under duress and without legal counsel, fearing she might otherwise lose her inheritance from Richard's estate.

Richard Simmons passed away on July 13 at the age of 76 due to blunt traumatic injuries, ruled as an accident by the Los Angeles County Medical Examiner's Office. His sudden death left his estate, including the rights to his image and likeness, in the hands of his declared trustees. During his lifetime, Richard made Teresa a co-trustee of his trust, as a testament to her dedication and loyalty over the decades. However, days after Richard's death, Lenny and Cathy allegedly pushed Teresa to sign documents that stripped her of this role.

Teresa has now secured legal representation to restore her position following Richard's wishes. She also seeks to block Lenny from profiting off Richard's legacy until the dispute is resolved.

In response, the Simmons family disputed Teresa's claims, stating through spokesperson Tom Estey that her allegations are "completely and demonstrably false." The family asserts that Richard Simmons would be "heartbroken to learn of Teresa's greed" and that her decision to decline the co-trustee role was informed and voluntary. They emphasized that her status as a beneficiary remains unaffected and labeled her petition as a ploy to "waste the assets of the estate."

The family additionally revealed that Teresa is still residing in Richard's house and has allegedly tried to charge the estate for her living expenses. They also raised concerns over a proposed Netflix documentary reportedly involving Teresa, warning it could harm Richard's legacy.

The legal chess game over Richard Simmons' estate mirrors a larger struggle for control and the preservation of his iconic image. While Teresa invokes her long-standing friendship and the late fitness guru's wishes, the Simmons family counters with accusations of betrayal and financial misconduct.

The next steps in this legal battle remain uncertain, but both sides are firm in their resolve as they await the court's decision on the petition.