What can I do to regain custody of my daughter?

Question Details:

In 1995 I gave custody of my daughter to a relative of her father because I could not care for her. I never gave up my rights, there was a visitation order. She eventually stop letting me see my daughter and told her I wanted nothing to do with her. I recently got back in contact with my daughter who is now 16. I found out that someone else was given custody of her by the lady I gave custody to. Can she legally do this without my involvement? What can I do to regain custody of my daughter? She wants to come live with me.

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