My husband and I are moving to Pennsylvania and we want to take our sons girlfriend with us. Her mom has given her permission to go with us. Do we have to go to court and a judges approval or can we just sign a paper and be done since we have the OK from mom. Is court mandatory?

To get legal guardianship, yes, a visit to the court is required. However, since all parties are in agreement it's a minimal procedure, mostly paperwork and a quick appearance in front of the judge just so he can verify that everyone is good with it.