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Good afternoon. I certainly understand the situation and your concern. Even though she consented, it is not a defense if he is going to be charged criminally. Even if the mother of the child denies this, a simply paternity test would reveal he is the father and their ages would be enough for him to be prosecuted. If the grandmother reports this to the police, they will look into it and investigate. Now, if the mother of the child agrees to allow him to take the child, that is between the two of them. He however can not just take the baby on his own and if he did, could only lead to additional problems. As far as the issue with him living there, the grandmother could get in trouble if she allows this, seeing how the granddaughter is a minor and she knows he is an adult and allows them to sleep in the same room and maintain a relationship. It is really in his best interest to not cause problems with the grandmother and just leave. If she starts to involve the courts and the police, to have him removed it WILL NOT be good for him.
Since she does not support herself, she could not be emancipated. She can not use his support as a basis, so that can not happen. Once she is 18, she can leave and live with your son, over any objection from the grandmother. As far as a legal document, it could lead to problems since the court would know and find out about their ages, so if they both agree on this, it may be best to leave it informal.
I just wanted to follow up and see if you had any other questions or needed me to clarify something. I am here to help, so please let me know. Thanks!