I want to know how to file a court order so that I can change my custodial parent from my mom to my dad.

You as the child can not file anything. Your dad will have to file a motion to have custody changed to him. He will have to submit to the court the reasons he feels it will be in your best interest. You mom will present in court the reasons this would not be in the child's best interest. Depending on your age and the court, you may be allowed to testify as to what you want and why. The court will then decide