Discussions

So my kids don't want to live with their other parent anymore. He lied alot in court to gain custody in the first place. Now my kids are getting old enough to realize what a "not so nice" person their father really is. We are not on speaking terms and my kids tell him all the time they want to live with me and he tells them they have to cause that what judge says. My kids are very upset and cry everytime they have to go back to their fathers. Now what do i do if they physically refuse to go back to their dad's. what do i do? I have no faith in lawyers or the court system and frankly can not afford to go back to court. Just not sure what to do???any suggestions