My stepdaugher has lived me with and her father since she was 6. She has had limited contacted with her mother for the last 7 years. She had no contact for nearly 2 years but now mother wants to see her regularly and she doesn't want to go is she allowed to say no

The Court Order prevails. What does it say about visitation? If there is no Court Order the mother can go to Court and request visitation.

... mother wants to see her regularly and she doesn't want to go is she allowed to say no

In a word:

no.