You will definitely need the help of a lawyer to file. I will recommend hiring a lawyer in Texas. You should not just listen to any "notario" or "immigration consultant" on this one.
Founder and Managing Attorney of Shah Peerally Law Group PC
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The first step is to determine if your husband was kicked back by Border Patrol, or whether an Immigration Judge issued a voluntary departure order against him. If a judge issued a voluntary departure order, and your husband complied with the order, then we should not have any problem getting his papers.
However, I would recommend that you contact an experienced immigration lawyer to consult about all of the details.
Best of luck.
Verdin Law Firm