Can any one tell me how to file an order to change the costody of my child from my perents back to myself? And any idea on how long something like this may take.

How your parents got the custody? Where are you live in?

I live in Washington state and I signed over temp custody to them 5 years ago, but my son wants to live with me now and is actually with me for the summer

You have to demonstrate there has been a substantial change in one of the factors courts think about when making custody decisions and also it is in the best interests of the child.Generally, you should go through the court to change custody. If you don't, then the original court orders will still be in effect.
You will need to prove that it is in the best interests of the child to change custody AND that there has been a substantial change in one or more of these factors:

The age and sex of the child.
The wishes of the child's parent or parents.
The wishes of the child, with more consideration given to the child's wishes if the child is at least fourteen (14) years of age.
The interaction and interrelationship of the child with the child's parents, siblings and other people who affect the child's best interests.
The child's adjustment to the child's home, school, and community.
The mental and physical health of all individuals involved.
Evidence of a pattern of domestic or family violence by either parent.
Evidence that the child has been cared for by someone other than a parent for at least six months to a year, depending on the child's age. This person is called a “de facto custodian”. If there is a “de facto custodian,” the court shall consider:
The wishes of the child's de facto custodian.
The extent to which the child has been cared for, nurtured, and supported by the de facto custodian.
The intent of the child's parent in placing the child with the de facto custodian.
The circumstances under which the child was allowed to remain in the custody of the de facto custodian, including whether the child was placed with the de facto custodian to allow the parent now seeking custody to work, look for work, or go to school.

Your first step is to go to your local Family Court. They will advise what you have to do to file a petititon for change of custody with the court.

You have to file “Petition for Change of Custody, Parenting Time and Child
Support”.to change an existing court order.Any state has different standarts.Send me a PM and I will send you out an application form.

By the way if your parents do not opposite to it-you do not need to file Petition for change of custody... it is enough to file a "Stipulation and Order to Amend Judgment for Custody."

My parents do not agree, my mother is somewhat of a bi**h and is very manipulative and that is part of my worry! she lies out her teeth and is very persuasive! She had me believing I was a pile of crap for years and that I could never be a good mother and I believed it and that is part of the reason it has taken me this long! I had to realize that this person that was supposed to love and care for me just wasn't .

my parents do not agree, my mother is somewhat of a bi**h and is very manipulative and that is part of my worry!, she lies out her teeth and is very persuasive! she had me believing i was a pile of crap for years and that i could never be a good mother and i believed it and that is part of the reason it has taken me this long! I had to realize that this person that was supposed to love and care for me just wasnt .
Maybe she is not a bi*ch and she loves you in different way... Maybe in her eyes you are a child,too.:)

I would like to think that but if you read my other question on here the whole stoy you will understand more