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Actually, if there is no court agreement or order on custody, both parents have legal rights to keep the child and if that parent gets the child, regardless of what the grandparent signs, without signing the agreement then they do not have to return the child without a court order. If this is a fear and there is still no custody order and the other parent will not agree to enter at least into a written agreement, which is a binding and enforceable agreement in court, then you need to go to court and file a petition for custody and get a custody order in place before letting the child go.