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I'd also allow the visit. He hasn't shown any signs of being violent or inappropriate, and it's clear your daughter loves and misses him. Seeing him, and knowing that somebody in her bfamily loved her and wanted her to be happy, might be incredibly healing for her.
What I would do is lay out the boundaries in VERY clear terms, in writing, and make sure he has them in advance. It's clear he doesn't get subtle social cues. So write down how he may contact her, where the visit will be, who will be there also, whether he can bring anybody else (say no!), and what he can bring her. You should also write down the things he cannot say to her--like "we'll get you back," for example. Write down how he may contact you in the future, too---by telephone only, only at this number, and so on. Be very clear, and write in very direct language. Tell him he must agree to these terms, or you will stop visits permanently.
I think this could be a great thing for your daughter. I hope it goes well!
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