A relative died and she willed property to surviving relatives. Property was sold and I received a portion of those benefits. Do I have to pay taxes on that benefit?

Possibly ... who sold the property ?   The estate or the individual beneficiaries?  Whose SS/EIN is on the 1099-S?

Probably not.  An inheritance, it's self,  is not taxable income.  

When inherited property is sold, you only pay income tax on the capital gain ( profit), not the whole sale price.

The capital gain is the difference between what you sold it for and your cost basis. The cost  basis of inherited property is the fair market value on the date of death, not what the original owner paid for it. This is known as the stepped up basis.

Property sold shortly after being inherited seldom involves a capital gain and may even be a capital loss, considering the expenses of sale.  The loss on the sale of investment property is deductible. But, the loss on the sale of personal use property is not deductible.  A decedent's home that sat vacant, since being inherited, is considered investment property. 

If the house  sat vacant all this time, you can deduct the loss.