I'm presuming you either had an appointed counsel or retained counsel of your own at the time the agreement was entered. If he or she is still in practice in your community, request a consultation. If no longer in practice, sitting down with a family law attorney in your area for a consultation, with a copy of the paperwork from when you were a minor, could be very productive for you.
Unfortunate situation that happens more than you think. You'll need to get an attorney to modify it court. My hope is you kept active in your daughter's life over the years.
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