You "go about" getting sole custody by hiring a lawyer and filing for it in court, but changing the domiciliary (not "Dominsory") status is not easy, nor is changing joint custody to sole custody. You will need better reasons than the fact that the father "made you out of a bad parent."
You really need to consult with an attorney as to how to change domiciliary status. Is something going on now with your girls? Do they want to spend more time with you? Has dad become a drug addict? An attorney can go over the facts with you and determine if you have enough evidence to file and change the custody.
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