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Hello, he would have shared parental responsibility so could see his child but he cannot take her away from her Mother - to do so would be child abduction and you could report him to the Police.
I would report him to the Police in any event and ring the 101 Police number so that if any further threats were to be made, the Police would go and speak to him. From a civil law perspective it would be easy to apply for an injunction against him too, however, the Police should be your first port of call for this.
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It's difficult as your daughter would have to involve the family court and he would have to state why he was not allowed to see his 10 year old - without court proceedings the data would be difficult to obtain. It clearly shows what his character is like though so the Police would take any threat of abduction seriously