I don't see how my friend can sit there and let her parents DEMAND for them to give her son back…

I don't see how my friend can sit there and let her parents DEMAND for them to give her son back (they have temporary custody and make the parents jump through hoops to even see him). I would be getting a lawyer and claim that they are kidnapping him because she has told then several times that they want their son back. The court is not involved at all and it was a voluntary release of temporary custody. She just lets then do this.