How do I talk my brother into moving out of my parents' house?

You need to work out why he is still there. If your brother still lives with your parents even though he earns good money, there must be a more complex reason behind it. As his brother you are well placed to deal with this situation.

Consider the following;

Does he have the capacity to look after himself? cook, clean, wash etc. It might be that his lack of domestic skills frighten him. Illustrate to him how domestic know-how only comes with practice.

Is he lacking in motivation or self-confidence? It may be that he's a little depressed and the thought of being out of his comfort zone only worsens his anxiety. If so, support him in raising his self-esteem. Invite him to an activity where he gets to either express himself or exercise. Both good things for the soul.

Is he just plain lazy? In which case, kick him up the ass and tell him to man-up.

hope this helps, dude