Ask your solicitor. Depending on the circumstances (and possibly depending on the wording of your father's will) it probably can be done without stamp duty. There is a technical legal argument that the transaction should be liable to stamp duty - and some practitioners would take the view that it should be submitted for stamping, but opinions and circumstances vary. The permutations are too many for me to be able to give details on all scenarios, but your solicitor will (well, certainly should) be able to give fact-specific advice.
Any arrangement for you to 'privately pay' is simple evasion. Don't do it. Either you structure the deal to legally avoid stamp duty or you pay it.
The maximum stamp duty exposure is only around €4k anyway. (Actually you could manage to structure it so that the stamp duty is around €8k, but that would be really stupid).