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You should normally provide the court with four copies of the C100 form. It is actually quite a straight forward form and the key part is basically just setting out that your step son has not seen the children for a period of time and wants to start having contact again. There is a very helpful book on amazon for about a tenner which talks you through the whole process and I have attached a link - https://www.amazon.co.uk/d/Books/How-Represent-Yourself-Family-Court-understanding-resolving/147211910X
Very happy to answer any questions and please rate positive.
I attach herewith the link - https://hmctsformfinder.justice.gov.uk/HMCTS/GetForm.do?court_forms_id=2253