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One of the family members or relatives will need to file a petition for non-parent custody, which is also called "in loco parentis" custody. The non-parents file with the court where the child currently resides. The non-parental filing will need serve the petition on the child's parents and the CPS.
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I would highly recommend that you hire a family law attorney so that you do not lose the case on a procedural or evidentiary technicality.
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