What do you do if the mortgage company failed to remove PMI?

[Ryan Roesch]

Long story short, my my grandfather's heath is on the decline, so my parents are agents over his estate. My parents have been sorting through everything over the past six months and my father just realized that since my grandfather used a VA loan on one of his properties, he's been paying PMI for 12 years now at ~$200/mo. After he hit the 78% threshold, that's ~$12,000-15,000 gone (ouch).

I want to figure out if the mortgage company is responsible at all. I'm not optimistic, however. Outside of some articles saying the mortgage company is required by law to remove PMI at 78%, I can't find much on what people do in our situation. Any insight or advice would be great. We're in Virginia if that matters.