you want to change (modify) or end (terminate) any of the orders made by the court in the Restraining Order After Hearing (CLETS - OAH) (Form DV-130) you have to file a request in court before date that the Restraining Order expires. You can do this if you are the person protected by the order or the person restrained by the order.
Renee gave sufficient information that some people pay a lawyer for. All you have to do is walk into that court building and ask for the documents Renee mentioned.
Call the Clerks Office or go online to the court website and look in the Q & A section.
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