How can I sell my rare coins and know that I am getting what they are worth?

I have quite a few U.S. Rare coins of all kinds, from 1886 dollar pieces to Standing liberty quarters to copper pennies. I dont know anything about the coins or coin collecting. I found most of them while going through some things that used to belong to grandfather. Anyways, I do know from just doing a little research online that some of the coins could be worth some decent money. However none of the coins are certified and they are all in circulated condition. How can I go about trying to sell the coins in a way so that I know Im getting what they are really worth and not just being ripped off by someone who know I dont know anything about them?

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