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Welcome to the forum, you might want to have a look at the following FAQ which explain where everything is
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I'm afraid the criteria for ESA and PIP are quite different so you will need to complete the PIP forms and it is likely that he will have a face to face assessment.
Please see our PIP Claim guides for more information.
www.benefitsandwork.co.uk/help-for-claimants/esa1 Gordon