joint custody for the purpose of visitation does not mean anything. LEGAL custody is the right to make decsions in a child's life, re education, medical concerns, religion, things like this. if you have joint LEGAL custody, then you have two options. petition the courts to have counseling for your child (which will take a while but you will get it) or if you have physical custody of the child, and insurance cards, or the money to pay for the counseling, just take him. no couselor is going to ask for a permission form from the father, and the only thing the father could do is petition the courts to stop counseling, and he would have to prove to a family court judge why counseling is hurting your child which is practically impossible. just do it.