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Without a visitation order in place, you have no obligation to make your daughter available to her birth father for visitation.
He would need to petition the family court for visitation and the court would determine the appropriate manner in introducing him into his daughter's life. It would certainly involve evaluations by professional counselors and the payment of support. It is also possible that after so much time has passed the court would decline his petition as being too traumatic to your daughter.
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