I have to assume that your girlfriend's aunt is her legal custodian and won't let you see her. The answer to your question as to whether you can get married without permission is completely dependent upon which county you wish to get married in. Some counties will allow a 16 year old to get married without permission but the vast majority will not. Contact your county's Probate Court and ask them. The bigger question that you need to ask is, "Should I get married?" You will have a child...
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Before your question can be addressed, I would need to know exactly how DFCS and the Court gave custody to your mother. If you are attempting to gain custody back you will need to be able to tell the lawyer you hire or get appointed how the kids got there, what has changed since she got custody, and what ultimately you would like to have happen. You may be able to file a contempt action to enforce visitation if that was addressed in the order that gave your mother custody, but only if...
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I agree with Mr. Rockefeller. You certainly need to hire an attorney to proceed effectively, as you have significant firepower against you that will have immediate credibility with the court. It is far more important that you concentrate on the reasons that this Judge should deny the Motion, rather than worry about which judge is hearing it.