I need a to obtain custady of my children out of state, how do I start this process.

That is the law in PA, and I believe most, if not all, states.  So, you would need to file a complaint for custody in the county where the children live.  You may have to travel here for any hearings. Generally, the courts will not transfer custody to another state, absent a showing of some harm to the children where they live now.  They will be reluctant to up root them unless it can be shown they will be substantially better off with you.