As you are represented, you need to communicate with your current attorney who you have invested time and money. Ask your attorney to set the case for a final hearing and have the mediated agreement entered by the court.
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If the two of you agree, the short answer is yes, depending on the terms of the Final Judgment.
As the primary custodial parent, she should call the police as well as show up at the school to bring her child home. If there is not visitation order or time sharing order by the Court, the police should enforce her right to bring the child home. Your stepdaughter needs to seek a time sharing agreement with the father and get a court order. It not acceptable to use the father for temporary care without a structured visitation schedule. Likewise, the father should not keep the minor child...