How to win a custody battle when your ex is pushing the issue of mother having bipolar?

My daughter has bipolar but has been a single mom to three shildren since they were born. Ages 3 1/2, 4 1/2 and newborn. The father has been in and out of their lives since they beginning. They got married last year and split up again after 3 months. He always tries to upset her and make her angry then calls the police and says she is a danger to her children (bipolar). She is breast feeding and can’t take meds and is not a danger. She has provided a home, clothes, takes to doctors appts, school, etc. He doesn’t even keep a job. He took the kids and filed for a divorce then they reconciled for a few months which made his custody papers null. He used them anyway and took the kids. Now we are going to court. I don’t know what he has up his sleeve now but his mom has everything to do with it because he is unable to do anything on his own. He has a 14 year old that his mom raises and another somewhere else. He doesn’t even pay support. Do you think we will win in court?
I just wanted to add to my previous. When the ex tried to take the children after they reconciled he told the police we were hiding the children. One police officer told us we did not have to answer the door because it was a civil matter. Then he came again and the police let him take one of them after he grabbed the other one from school with old but most recent paperwork from court. It was the old order before they reconciled. It is a mess but I feel the police were in the wrong and there are too many things unsaid. It’s sad the children have to go through with this behavior. Hopefully the judge will see the whole picture.

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