Based on the facts given it would be unlikely that a judge would grant the father parenting time of any note. It sounds as if he's had some parenting time, but not a lot, and what he's had has been sporadic. It's not unusual for a judge to require a psychologist to evaluate the father and the children to see if parenting time for the father is in the children's best interests. You say the children don't trust the father. Does that mean that they don't want to see him? If so, based on the...
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The first question to ask is why DYFS became involved with you and your baby in the first place. Did you have prior DYFS involvement? Do you know if the hospital reported the birth to DYFS because of either something you said or a test result? Once you know how DYFS became involved, the next step will be to speak with the case worker and without revealing any negative facts find out as much as you can as to what DYFS knows or believes. With that information you can either contact a private...
Being 18 your son or daughter is legally an adult and can, under most usual circumstances, live where he or she wants to. If the depression is serious enough to call into question mental competency it may be possible, though difficult, to ask a Court to have you appointed guardian.