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Based on the information you've provided, it just sounds like he filed paperwork. It does not sound like a decision has been made yet. If your daughter doesn't feel like it's in the best interest for your granddaughter to be forced in to counseling, your daughter can contest the petition by filing a counter petition. She should attend any court hearings that are set and explain to the Judge why this is not in her daughter's best interest. I do not know what grounds he has to ask to be relieved from paying child support. I doubt a Judge will allow that.
If by some chance he did get a decision against your daughter, she would need to talk to a lawyer immediately. Appeals have a definite time frame and her interests would best be served by contacting a lawyer in her area immediately. We cannot represent clients, but can only provide legal information.