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The initial act would be to contact the case worker with child protective services and try to arrange visitation and request that you be allowed to take custody of the children. Most courts want the children to be with family if at all possible. Of course, they'll have to do home studies, inspections, etc. before the court would approve the transfer.
Also, the court may require you to become an approved foster parent.....which can take a few months.
But, in order to get things moving, you need to reach out to the case worker and let him/her know that you are willing to take the children in.