My daughter will be 17 in two months. I have joint custody with her dad ( my ex husband) She lives with him for past few years and has asked to come live with me. There is a history of him being verbally and emotionally abusive and many episodes of him fighting with his live in girlfriend ( one time they both were arrested) my daughter is becoming scared and anxious and is begging me to live with me. If I have her in my state for a scheduled visit can I bring her to the court and ask for her to live with me? Will the court listen to her request since she is older? I also have a recommendation from her therapist she should live with me.

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... If I have her in my state for a scheduled visit can I bring her to the court and ask for her to live with me?.

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The court in what state granted your divorce, your state, his state, or some other state?

You have to determine what court has jurisdiction over custody and file there. You haven't given us enough info to tell you who has jurisdiction.

However, at her age, and with a therapist recommendation, the court will likely grant the modification.