I need help getting my kid back in my custody Care

If you and the child's other parent cannot agree on how to apportion custody, then you have to file a petition with the court.  generally speaking, only the court in the county where the children have lived for the past 6 months has the power to make a ustody determination.  each county in PA has their own particular rules about how to file these petitions but, no matter which county the children reside in, the bottom line is the same:  if you can't agree with the child's other parent, then you have to file a petition and get the court involved.