You should consider filing a motion with the court to modify dad's parenting time. Unfortunately, until the current order is modified, you will have to continue sending your kids to their dad. I hope it works out for you. Kind regards, Akiva.
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If you violate the court order, you can be held in contempt and the other parent can be granted not only make-up parenting time, but attorney fees as well for having to seek relief in court. If you are concerned that the children are being mis-treated in their father's home, the appropriate action is to file a motion and request a modification of parenting time. In order to do so, you will have to be able to demonstrate "proper cause," and if your child's claims are true, consider corroboration from a school counsel or therapist, who can interview your children and issue a recommendation or report for the court to consider. This is an important issue, and you would be best served by an experienced family law attorney.
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I agree with the previous answers, if you are concerned about the situation, you should ask the court or the Friend of the Court to re-visit the parenting time arrangement. Contact an experienced family law lawyer to help you.