I would start by filing for guardianship in the Probate Court. From the facts you present, it sounds as if you would be successful in obtaining guardianship.
Best of luck to you,
John J. Keenan
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File a petition for guardianship of a minor. Make sure to also file the social history, acceptance of trust, order and letters of authority. Get a waiver and consent from the parents if you can. Serve both parents with the petition(s), notice of hearing and then file a proof of service. Good luck.
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