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An assignment is the transfer of a tenancy by the tenant to another person. The Housing Act 1985 sets out when this can be done. Unless an assignment is by court order or under the right to exchange, tenants can only assign their tenancy to someone who has a legal right to succeed and to be valid an assignment must be done by Deed. For these reasons this guidance needs to be prescriptive.
You can read the full guidance here.
Tenants can only assign their tenancy to someone who has a legal right to succeed. Who this is is set out in the succession guidance and in section E of the Council's tenancy conditions. In a nutshell:
The Localism Act limited statutory succession to spouses and partners from April 2012 unless social landlords opted to allow other successions. Camden decided to continue to allow close family members living with tenants to continue to succeed and therefore they can still also benefit from assignment.