I need to file my answer to a complaint in the Supreme Court of the State of New York, New York County and I have been told that there are companies that do provide the service of actually filing court documents.
Unfortunately, you are misinformed. Only lawyers can draft and file litigation documents. If you have drafted the documents you want to file yourself, you do not need a third party to file -- you simply mail the documents to your opponent and to the court clerk.
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