If you are looking for a pro bono divorce attorney you can contact the Volunteer Lawyers Project in Boston, www.vlpnet.org. You do have to meet certain income criteria to be eligible for their free services. I would contact them and see if you qualify for services.
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Assuming you already have a child custody order, if you want to change your child custody order you will have to file for a modification with the court. You must be able to show that there is a significant change of circumstances since the custody order was entered AND that your desire to change is in the child's best interest. It's really up to the judge. Good luck! If you still have questions be sure to contact an attorney.
Under Standing Order 4-08, you will only need to attend the Parent Education Program in a divorce action if there are minor children involved in the divorce. Since you said that all of your children are over the age of 18 you will likely not have to attend the Parent Education Program.