How do I establish joint physical custody and joint legal custody?

You must file the proper Complaint for Custody (or Paternity if you are not on the Affidavit of Parentage) to establish your custodial and parenting rights to the children. Further, the court will have jurisdiction for the minor children who may not be relocated more than 100 miles away by either party without prior court approval. Without a proper court order, Mother may leave and relocate wihout restriction, and you will be left to inconveniently litigate this issue in another state.