Unfortunately your only option is to go through the court system or call Child Protective Services. I worked for them myself and they will remove the child and then ask the next closest relative for placement first. By taking care of them without this process you have no rights and the parents can pick them up for any reason. If something happens you may wish that you had called. Your daughter is not taking any initiative into resolving this situation and may feel that there is no way out. This thinking perpetuates a terrible situation and nothing changes. When there is physical abuse you have to consider all your options. This situation unfortunately is not going to resolve itself. It is uncomfortable to consider how this will impact the relationship with your daughter but eventually she will realize you did what you had to do. Your grandchildren need your protection so it's your choice. You could talk to your daughter but she knows what is happening. I would take action before it gets any worse. I would consider consulting a family attorney.
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I was hoping your advice was to have my daughter give up her commitments and spend more time with her children; and/or the grandparents giving more space to the daughter's family and let them work it out.
But, you see only legal intervention as the way to go, even if the abuse is mild and occasional.
I do not want to overreact. what is your opinion on this?