I answered this question some days ago, but the system does not show that it went through; if this is a repeated answer disregard it. In summary:
Custodial restriction orders do not "expire" during the minority of the children, unless so stated on their face -- but they might not be enforced if they have been long ignored, or "acquiescence" could be asserted. And six years is a long, long, time in family law, so if there has been no complaint, assertions of any harm of any kind, etc., a court today hearing a motion to terminate contact with dad, or for contempt, may or may not be much interested in granting relief. Much depends on facts that are not stated.
I suggest you consult with a family law specialist as to the specific order, and the specific facts -- including why no one said anything for 6 years, and what, exactly, changed recently, and then go from there.
Answered on Aug 24th, 2014 at 3:00 PM