Family Law Questions? Ask a Family Lawyer Online.
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If your rights were legally terminated through the courts (which it sounds like they were since you mention signing court papers) then the only way to restore your parental rights would be for you to legally adopt the child, which requires the consent of the other parent. I know that sounds strange given that you are the biological parent, but the legal effect of the termination was to make you a stranger to your child in the eyes of the law. You seem to have a relationship with the child, which suggests a good relationship with the other parent. If that is the case, you may want to approach the idea of allowing you to adopt your child. If the other parent is opposed to this, however, then unfortunately there would be nothing you could do to reinstate your parental rights.
If you would like any additional information or have more questions please don’t hesitate to ask!