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You would have to file a petition for legal guardianship of the child, and name both parents as parties. If the parents agree to you having guardianship, they can sign a waiver and agreement for the court to award custody/guardianship to you. If they do not agree, you would have to serve them.
The petition can claim that the child has lived with you, is comfortable with you, and that the child is better off with you, then the judge is likely to award guardianship to you.