Do I need to pay taxes on a life insurance policy?

My father recently passed away and we have a small inheritance. There is about 16k from a 401k and 25k from a life insurance policy. What are our obligations as far as paying taxes? Also, the money will probably be split between 3 siblings, do we pay taxes before or after we split the money? Any information would be helpful, as I am definitely not an accountant :(

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