"We are growing our company to meet the demands of a recovering market," said Doug Rebert, the company's managing director.
Terms of the deal were not disclosed.
Homesale, which does business at Prudential Homesale Services Group, is Central Pennsylvania's largest brokerage. The company completed transactions totaling more than $2.14 billion in 2012 in Pennsylvania and northern Maryland.
Started in 1970, Century 21 Heritage adds 30 agents and a 28th office for Prudential. It will maintain an office at 41 Cinema Drive.
In 2012, the York County firm closed 363 transactions worth $54.9 million, according to Prudential.
"Century 21 Heritage has been one of York County's top 10 real estate companies for decades," Rebert said. "Combining strengths is a great way to do what is best for our customers."
Prudential recently expanded its Maryland footprint with a sixth office in Baltimore's Inner Harbor.