All perfect praise be to Allaah, the Lord of the worlds. I testify that there is none worthy of worship except Allaah and that Muhammad, sallallaahu ‘alayhi wa sallam, is His slave and Messenger.
If he had not performed the obligatory Hajj before that and he left behind money sufficient for performing Hajj on his behalf, then you should assign a person from amongst yourselves or someone else to perform Hajj on his behalf, and the wage should be paid from the estate of the deceased before repayment of debts owed to people and before the distribution of the shares of inheritance. However, if he did not leave behind money that is enough for performing the Hajj on his behalf, then it is not incumbent on you to perform Hajj on his behalf – it is only recommended. Moreover, it is necessary for the person who will perform Hajj on the deceased's behalf to have already performed the Hajj on his own behalf.
Allaah Knows best.