Going through a nasty divorce and need advice....?

I live in Missouri and have two beautiful toddler girls. I left my husband about a year ago and wanted to get away from the verbal abuse. We decided to get back together for a week for the sake of our girls. It was awe full, but we went up to KC, MO and took his vehicle with our kids to visit family. He got mad and decided we were not going to work out. I had asked him to take me back to my car in Springfield, MO. Three hours from my car I decided I had to use the restroom. When I came back out he left me stranded, with no kids, no car, no purse with all my personal information and money to get back home. My parents came and got me. The following Monday, I got served with a protection order and an ex parte with allegations that were not true. We go to court a couple of weeks later and his atty. made it seem like I was lying. Ugh!! My atty. had no clue as to what was going on or how to help me out. We couldn't let the judge rule on the case so I had to settle with seeing my kids for only 3 weekends out of the month. All of this for a lie! My future ex has three years of college for becoming a lawyer. He needs the court system pretty well. I know nothing about it. .... 4 months later, the day of court for the same issue.... he goes to the courthouse and dismisses everything. He has dropped off the kids at all hours of the night, I have not returned for them for months. Then all of a sudden he decides he wants them back. So we write out an agreement so he can have them. When I drop them off he says the piece of paper doesn't mean anything and he's keeping them, but then a week later he drops them back off at my place. He's never consistent. I kept them again for another two months. He wanted them back again, so this time we decided to make our own parenting plan. I dropped them off with him and we both signed and agreed to the parenting plan. The next day he sends me something saying I better get on with the divorce (cause nothing is happening with our atty's) cause he is not giving the kids back. Tomorrow we go to court and he keeps telling me "good luck U skank." My question is... does anyone have any advice on how to win? I'm at a loss and really need some advice. Please help!