Contact the Domestic Relations Court office that has jurisdiction over the CPO. You should be able to find out how to voluntarily dismiss the CPO. Contact a local criminal defense attorney regarding the criminal charge. Prosecutors often do not agree to dismiss criminal charges after the charges are filed. A local criminal defense attorney may be able to help the father and you, the prosecuting witness.
This answer is offered for informational purposes only. It is not offered as, and does not constitute, legal advice. The answer presumes you are not currently represented by an attorney who knows your specific circumstances.