maleficent

My parents house used to get these occassionally.

This was my job.

My solution -

Do this at night. Not during the daytime.
Bring in any pets and/or children
Dress in long sleeves, long pants and gloves
Get a large trash can at the ready.
Have a broom or stick nearby
Douse the nest with Raid Hornet Spray - keep spraying until the nest is saturated.
Wait a few minutes
Knock the nest into the trash can.
(Some say douse with gasoline andset on fire - that's a little too Apocalypse now for me)
The bug spray should be plenty flammable
set nest on fire

Their house used to get 3 -5 -nest per summer -- and I never managed to get stung.

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