The Mother is Still Married to Another Man...

This video shows that the affidavit (petition) alleges that the parents abused and neglected their newborn.

It very well may be that the legal husband, David Taylor (who is not the father of the abducted child) of Stephanie Janvrin, filed a complaint with the State agency - Child Protective Services. So it looks like it really comes down to a custody battle between the two separated parents. It appears that the real father is caught in the middle with no legal grounds to say the child is his. And it very well may be that the legal husband/father has prompted the State of New Hampshire to take possession of the child by filing a complaint either with the local police or the CPS.