Sorry to hear about the divorce, Chris-L. I went through one some 20 years ago. It was HELL and there were NO kids involved. Now I'm remarried and have a wonderful child. If you and your wife are agreeing on most things, then by all means, there are cheaper alternaties than traditional divorce attorneys. In my experience, some attorneys actually try to create more conflict so they can increase their work and fees. I know sirkicky will rail on me for saying that, but it happens. And I'm not saying it's necessarily dishonest or even intentional all the time by divorce attorneys. Attorneys simply believe the best way to litigate is by asking for the moon so you can eventually compromise back to the mid-level. And that level might be what you and your spouse had originally intended all along, before the opposing attorneys stepped in and had a number of meetings and documents flying back and forth while running up your tab.
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I'm not sure where you live, but google "non-profit or low-cost divorce or mediation." If you have one, an ecclesiastical leader may be able to point you in the right direction or refer you to someone who might be able to help. If you've had marital counseling, your therapist probably has contacts for divorce or mediation centers. But you ABSOLUTELY MUST have the assistance of legal professionals. As bigb and Gameface both cautioned, you and your spouse need to have everything in writing, from division of assets and debts to custody and support agreements. You can't avoid all fees, but you can significantly reduce the costs by going the non-profit route vs. an attorney who wants to overly negotiate and litigate and charge you hundreds of dollars per hour.
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Most importantly during this process, swallow your pride and anger. You might be right on a number of issues, but sometimes proving "right" is more costly than it's worth. I assumed some debts and gave up more mutual assets than what I really wanted to or felt was just, simply because the price of winning (which I was sure I could have) would have cost more than it was worth - not to mention the terrible fighting and feelings it would have caused (beyond what had already occurred).
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Also remember the most important element in all of this is your kids. Whether expressed or not, studies have shown that children often blame themselves for their parents' divorce. Don't hesitate to tell them you love them. Emphasize, but without denigrating your spouse, that it is the relationship between you and she that cannot be fixed, not anything that has happened on their part. It will be tough, but as you and they move forward, try to talk about your marriage problems and the cause of the divorce in general terms, rather than providing a detailed list of all your ex-wife's faults and/or "sins." Your children need to be loved by both of you; they don't need to be put on a battlefield every time they're with one parent or the other, being asked to pick a side or try to figure out who was right or wrong.
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Lastly, expect some behavioral changes from your children. It will vary from age to age. The older children may understand about relationships breaking up, and although they may not like or agree with your divorce, they'll be able to accept it. Younger children may be too young to fully grasp what is happening and they may adjust rather quickly. The real challenges may be with the pre-teen and early-teens (if you have those). They're trying to figure out who they are just as a major change is now broadsiding them. If you have the means (and again, maybe there are non-profit sources available), I recommend counseling. Not because your children are messed up. I just think in many cases it's helpful for them to have a completely unbiased outlet where they can express their true feelings - whether that be grief, anger. loneliness, fear, etc. - without the fear of being judged or hurting someone else's feelings.
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I know PKM has already volunteered his "ear" if you need someone to talk to. I'll do the same as someone who has walked a similar path. Keep your head up, Chris. I'm sure you're a wonderful parent and probably a decent person. Divorce brings self-doubt. Don't be afraid to grieve; that's normal. But avoid getting too down on yourself.