You cannot petition for your mother until you are 21 years old if you are a US citizen. Secondly, even once you turn 21, you can only help your mother legalize her status if she entered the US lawfully.
If you are a US citizen, then you can apply for your mother after you turn 21. It doesn't matter that you have children. You will need to show that you have sufficient income to support your mother, however.
It depends just because you turn 21 does not mean your mom will qualify for a legal status. Having a baby will not have an effect on your case. Work with an attorney.
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