There are not enough details. If your parents have a court order giving them custody, you have to pursue different legal avenues than you would if they don't have any legal rights.
I recommend that you schedule an appointment with an experienced family law attorney, or sign up for a short meeting with a volunteer attorney at a clinic in your area.
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As the biological parent you have a legal right to custody immediately, unless your parents have a court order granting nonparental custody to them. See my AVVO Legal Guides on nonparental custody for more information about the legal issues raised by your inquiry. Click on my photo; on my AVVO home page scroll down to "Contributions"; click "Legal Guides." Scroll down the list of my 29 Legal Guides and select the topics relevant to your question. You may also want to schedule a free ½ hour consultation with me by calling my office at 253-815-8440.
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If your parents don't have a Court order granting them non-parental custody and you are clean, sober, and able to properly care for your son, then you will probably be able to "get your son back" quickly. If your parents have such a Court order, you will probably still be able to get your son back, but there will be several other considerations and requirements in doing so.
In most cases, our Courts prefer that responsible, stable biologocal parents have "custody" of their children over all others..
In either case, I recommend you hire an experienced family law attorney immediately to guide you through any process or Court filings required. Good luck.