I have a 14 years old daughter that just told me that she want tto live with me how do I take this to court so she can tell the judge this she is afraid to go home to her mother

You go to court and request a custody hearing.

First, if the mother is the primary custodial parent, you cannot keep her beyond your visitation. You can try to get an emergency hearing on a custody modification. But if you violate your court order, it will make things worse for you.

Second, at 14 its iffy how much weight the court will place on her preference. Why is she afraid? What has the mother done? You will need to document these things for the court.

Yes, you will have to file a motion in court to change the current custody orders. They will not only listen to what the 14 year old has to say, but question her as to why. At times the judge may question the child privately or have it done by a case worker.

Also each parent will be able to produce evidence as to why the other should not be the custodial parent.