How do I transfer my mothers shares in her ICICI Direct demat to her Zeordha Demat

She has a demat in ICICI Direct and she wants to transfer all her shares to her own zerodha account how should I do this?

Via CDSL easiest. You will find the tutorials on YouTube.

You can check out this article to know the process: How to transfer shares from the other broker to Zerodha?

CDL Easiest. Check out this video.