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DearCustomer- If the father will not agree then you will have to file a motion for custody through the courts. I understand that your daughter has custody now but the father has the right to be included in any action involving the custody of any of the children. I also understand you have these various reports from the agencies and professionals which is good. All of that can be used as evidence in a court case for custody.
Since your daughter agrees then the only problem is with the father so you at least have one parent on your side. Unless you can find some way to get a case filed in the local family court I see no of getting legal custody changed to you. You can try contacting legal aid or the Bar Association for a low cost or pro bono attorney and you are permitted to file your own case but it can get complicated.
If the father will at least agree to the two children moving in with you that would be a start. I can only offer general information from this website and cannot actually represent clients. I have included the website for the Bar Association below. You may want to contact them to see if you can find an attorney in your area who could be of assistance.
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