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You can file a Complaint for Modification of the Custody and request that the Court give you sole physical and legal custody of your son with limited visitation to your ex husband. You need to provide the reasons for asking for the modification just like you did in this narrative here.
The Court would make a decision whether to grant your request based on what is in the best interests of your son. If the Court finds after hearing from you and your ex husband (and most likely your son) that it will be in the best interests of your son for you to have sole custody, the Court would grant your request. If not, the custody would remain status quo.
The form for filing the Complaint is available at the Courthouse, in the Clerk's office.