One parent keeping the child from the other parent as you have described likely does not rise to a the level of a criminal offense.
Without a custody order or a separation agreement with custody terms, there is nothing else to do or fall back on short of filing a child custody lawsuit against the other parent. The parent withholding the child will not be perceived favorably by the judge.
The situation you describe could be parental alienation. Repercussions can include extra custodial time with the non-alienating parent and/or limited visitation with the alienating parent. Check out our detailed article on this issue, Parental Alienation in North Carolina.
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