My 9 yr old daughter does not want to visit her father. He has a mental illness and yells at her all the time, he tells her that my husband and I put stuff in her food to voodoo her. He makes her hold pieces of metal and iron .he tell her it keeps spirits away. He tells her voices talk to him what should I do

Never. A child can't make the decision. However, you don't have to physical force her to go. If she is refusing, you need to go back to court to modify the order.