Ballpark cost

How, when and where?

It can not happen, unless there is a step parent that is willing to adopt. A parent is not allowed just to sign over the rights (except for adoption)

If the parent is a danger to the child, perhaps is in prison with a long sentence, their rights may be taken away.

Does the other parent want to sign over his or her rights ? If they do not, then it will be very hard to do so.

Since it is almost always connected with an adoption, I would start it at 5000, if the parent is willing to sign, and 8000 to 10,000 retainer and sort of go from there if the parent is not willing to sign.

More info is needed.

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Ballpark cost

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Ask an attorney in your jurisdiction. Asking for a rough estimate of how much it is going to cost will be free. Call one on the phone.

Of course you will probably be told at the same time that, as others have noted, it's not as simple as "signing over" parental rights. And, unless it's part of an adoption, the parent who wants to "sign over" the child will still have to pay child support.