If there is a court order in place, you cannot take any action(s) that would violate the court order. In the absence of information regarding the legal status of each parent's rights, your question cannot be answered in this forum.
I suggest that you arrange to meet with an experienced family lawyer in your area to discuss this matter in greater detail. Finally, please note that most lawyers charge by the hour for consultations. Therefore, you need to discuss fees prior to setting up an appointment to avoid any misunderstandings. Bet of luck~
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