My daughter was forced into signing a letter for joint custody by her boyfriend. She is physically and verbally abused by this m

Your daughter needs an aggressive attorney to help her set aside or change the papers that she foolishly signed. Hire somebody right away.

The question provides few essential details to give an idea of procedurally where things stand at the moment -- knowing whether the matter is post judgment, or simply following an FOC review and recommendation, makes a difference on how hard it's going to be to get out from under this. That being said, the allegation of physical abuse sets off all sorts of alarms -- these are not the kind of cases somebody should be handling on their own. If you have to beg, borrow, or steal, do it and get with an attorney who can aggressively assert her rights and protect the children's best interests.

Timing is very important. If there is any chance of having this order set aside, NOW is the time to hire an attorney.