can i sue my childs law guardian for making me do sexual things with him in order to get my child bavk home?

My child's law guardian has made me do sexual favors for him in order to get a yes in court. I have text messages back and forth from us me asking and begging him to stop and leave me alone... Now he's trying to bribe my silence. I'm scared of this man and what he can do to my family and I need help. I don't know who to ask or turn to for this. So please help me.