The Court typically considers the best interest of the child. Your parents do not have a greater right to custody/guardianship of your child under that standard unless you are "unfit". Guardianship is a fluid concept and can change. However, once that child has been living and bonding with someone other than a parent it becomes difficult to change the status quo. The courts like children to be in a stable loving environment. You do not lose your parental rights without the filing of a formal proceeding and a showing of unfitness. However, when a nonparent has guardianship/custody of a child it is crucial for the parent to maintain a presence in the life of the child. Meaning, You must visit and spend quality time with the child to make sure the child continues to be emotionally attached to you as a parent. The court will also look at financial support if you want to change guardianship/custody back to you( the parent).
Be careful, once you give someone custody or guardianship you will have to fight to get the child returned to you unless there is an agreement between the parties.
The issue of your child's welfare is too important for you to proceed without an attorney. Some states will appoint a lawyer for you free of charge if you can't pay one.
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