I have joint legal custody of my 6 year old son. His mother enrolls him in school and after school activities without telling me,she doesn't tell me any medical info on him such as doctors names. I just found out from my 6 year old son that she has him in counseling no as well without my permission or even telling me. Can I do anything about this? Please help.

Yes, you can go back to Court and address these issues. If the mother is ignoring a Court Order you can have her held in contempt.