New Zealand Law
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You would need to get either an agreement negotiated through FDR family mediation, or if that doesn't work, you will need to apply to the Family Court. If you have the grandparents consent you can uplift the child, but you will also need to have the mothers consent as well. It is a requirement to try mediation before you apply to the Family Court, and these settle about 80% of the time, and you dont need a lawyer for this part, although there is a fee for appointment. You can however try for mediation, and if the grandparents refuse, you can then go to the Family Court and apply