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Please give me a little more information.
Does the child also live in Indiana?
What about your son?
Does your son have visits?
You can go to court and file a motion for a modification to the visitation order. If you don't have a visitation order then you must request one. It is possible that if the child was an infant the original order required the infant stay in 1 home. Now that the child is a older it may be possible to get home visitation for your son. The modification will specify where the child can be kept. It will also specify who will pick up and who will deliver the child.
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Please be aware that my answer is not legal advice, it is merely information and no attorney client relationship has been formed. You should always contact a local attorney for legal advice.