Two different things the word "custody" covers: who makes major decisions for a child, and where the child lives.
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"Custody" bundles two separate questions, and conflating them causes a great deal of avoidable conflict. Legal custody is decision-making authority over major matters - schooling, non-emergency medical care, religious upbringing. Physical custody is where the child actually lives and the schedule of time with each parent. Either can be shared or held by one parent, and joint legal custody alongside an unequal residential schedule is a very common arrangement.
Courts decide these questions by reference to the child's best interests, applying factors set by state law rather than any presumption about which parent should be preferred. Many states now use terms such as parental responsibility or parenting time instead of custody, partly to separate the two ideas more clearly.
Custody arrangements can be modified as circumstances change, which distinguishes them from most civil judgments - but modification generally requires showing a substantial change since the last order, not simply a change of mind.
Three bodies of law decide where a custody case belongs. Under the UCCJEA, the child's home state, defined by where the child has recently lived with a parent for a set period, generally has priority to make the first order. The state that made an order then keeps exclusive, continuing jurisdiction to modify it while a parent or the child still lives there. The federal Parental Kidnapping Prevention Act requires every state to give full faith and credit to a custody order made consistently with those rules (28 U.S.C. § 1738A). When a child is taken across an international border, the Hague Convention on the Civil Aspects of International Child Abduction, implemented in the United States by 22 U.S.C. §§ 9001-9011, provides a remedy of return. That remedy decides which country's courts will hear custody, not who gets custody. A parent's right to consent before a child leaves the country can itself be a right of custody under the Convention (Abbott v. Abbott, 560 U.S. 1 (2010)).
The jurisdiction question is the one to raise first if the parents are in different states, because filing in the wrong state can waste months. Beyond that, parents who agree still benefit from having the agreement drafted precisely enough to be enforceable - most later disputes trace back to a schedule that was clear to the parents and ambiguous to everyone else.
Worried about the cost? A lawyer can be hired for one part of a case only (limited-scope representation), may be paid from what a claim recovers (contingency fee), or may be free through a pro bono program or legal aid; a court can also waive its own filing fees.
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