If it's already been foreclosed, and right before it was foreclosed, you should have received a notice posted on the front door.
You will also receive a notice to vacate.
Depending on the foreclosing bank -- some of them may allow you to stay for a period of time while they prepare the paperwork to have it listed for sale by a realtor.
Since you are no longer the owners, the rightful owner, the bank, has the law on their side to evict you. Even if you hire a lawyer, that lawyer may give you some advice but the final outcome may still lead to your needing to vacate or be forcibly evicted.
If you had tried to sell through a short sale, you may have had more time to prepare for your next living arrangements, and also made sure your credit isn't damaged as severely by a foreclosure.
Sorry you lost your home...but it's time for you to move on.