Is there a petiton one can file if voluntarily surrendered parental rights after the child being removed from?

full time rights or rights would be terminated upon the next hearing, the single parent full time students family are poorly educated,and financially unable to help other than provide shelter for the young mother. 19 at the time of surrender,and no abuse or neglect,parent was advised (coerced) it was in the best interest of the child to voluntarily surrender parental hearing,so we need help attorneys advice, real life case scenarios,contacts any help would be greatly appreciated