You need to go to the courthouse that your matter is heard in. You should be able to review the file and make copies of all orders the court has entered pertaining to custody and visitation. If there is a requirement of supervised visits, it should be written or referred to in the most current custody orders.
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I agree that you should look at the court file and see what the orders are. If you lost custody because of drug problems go to NA , take parenting classes, and do everything that you can to show that you are no a fit parent.
The ask the court to allow you to reunify with the child. It would probably be a good idea to have some professional supervised visits so that you have a third party-- a neutral party-- observe you and your child together.