He's had the supervised visits for your child to get to know him. Now they know each other. If you don't comply with the court order, you could LOSE CUSTODY COMPLETELY. Then YOU will be the one with supervised visitation. It is in your child's best interests to spend time with BOTH of his parents. He is not a baby, he's 7. If you tell him to get out of the car and go with dad, he should be listening. There is no reason for him to be having fear and anxiety over this unless YOUR reactions are inspiring it.