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Who has legal custody of the children?
Where do the children live?
Has the court been involved in this situation?
Where has the mother been?
Ok, if you have the permission of one parent, then that is enough. As long as there is no court order prohibiting this, then whoever the custodial parent is (i.e. the bio father) can give permission for the trip.
If daughter has been uninvolved with the child, then if she wants to object, she can file a formal action in court to object. The judge will then hear any objection....in several weeks.... and then order her to pay child support if she isn't doing anything to support her child..
So the likelihood of her taking any formal action is incredibly low..