Prenuptial Agreements

Dear Len & Rosie,

I am a single mom, engaged to be married. I also own a house that I am making payments on. My daughter, who is twenty-five years old, is on the title of the home with me as joint tenants. I do not want to do a prenup, but I want to make sure my children inherit my home if something should happen to me. Is there anything I need to do? Would a trust protect them?