Can he do this?

Ok, this is kind of a long story.........

I had a baby girl who just turned two a couple days ago. Her Father and I were never married but lived together for 1 year. He was very abusive to me our whole relationship. When our baby was two months old he beat me for 5 hours one morning but was interrupted by my Mother who was wondering why I hadn't made it to work and came over. We called the police, I pressed charges and waited. During this time Kevin had moved to another County. He ended up taking me to court for emergency temporary custody of our daughter. Once I explained to the judge that we had an open D.V case in Pinal County he lost but was awarded visitation. Months went by until we finally went to court on the D.V.
He was found guilty on 4 counts of domestic violence and the judge said he was to stay away from me and our daughter for 3 years.

Well, Kevin was going to classes for his anger and D.V and even though I wanted nothing to do with him I know he loves his baby as much as I do and I didn't believe he would ever hurt her so, I went against the judge and continued to let Kevin have visitation. He had moved back to our County in Pinal and He had her quite a bit. I work nights and he would take her along with some weekends but, it wasn't all going very well when it came to me having to see him. He constantly begged me to give him another chance, cut down my friends, my job, my family and would get very upset with me when I told him that I would never take him back. There were a couple of times he threatened me, threw things at me and even a time that he damaged my property. All of this I did nothing about due to the fact I knew it was my fault for not doing as the judge said and allowing Kevin to see his baby girl.
Well, one day while I was working Kevin was to pick our daughter up from my house where my Mother also lives. She had been watching our daughter that day. When Kevin got there he began yelling at my Mom about the guy I had been and still am dating. He was calling him names etc, etc. and then told my Mom he was taking our baby and I would never see her again. Same thing he always pulled with me but, my Mother wasn't use to this and decided she wasn't going to allow him to take the baby.
Kevin attacked my Mother......... He left bruises on her where he grabbed her and he had thrown her down in the gravel outside twice. He was able to get the baby and left. Well we called the police and she pressed charges but they didn't know where he was so we couldn't get the baby back until 3 days later when he sent his new girlfriend to meet me at a gas station with our daughter. He made me promise to bring her back the following weekend.
But, I did not. My Mother is 60 years old and I believed if he could do that to her the classes were doing him no good and that even if he wouldn't abuse our baby girl he would be abusing his new girlfriend in front of our baby so I decided it was best to keep him out of her life all together.

It has been 2 months, he calls every day but I don't answerer, he leaves threatening messages and always says he is going to take the baby from me. He called D.C.S and claimed I was abusive among other lies and they came to my house (after they saw my place and talked to me it was dropped), he had a police officer come to my door with the court papers from Navajo County where the judge had given him visitation. I showed the cop the newer court papers from Pinal County where the judge stated he was not to come near my daughter or I for three years and the cop left. But now, I just received court papers from Navajo County saying I am to be in Court next month for mediation for dissolution of marriage with Kevin.

It says -

A petition for dissolution of marriage having been filed, the same having been served upon the respondent, and there being no allegations of domestic violence raised within the pleadings, and good cause appearing.

IT IS ORDERED assigning this matter to mediation to allow the parties the opportunity to reach an agreement as to all outstanding issues.

You are ORDERED to appear for mediation at the Navajo County Govermental Center November 6th. etc, etc....

Navajo County is like 4 hours from me in the first place along with the fact that we were never married AND there was allegations of D.V which he was found guilty.

My question, do I really have to go? Do I need a lawyer? Can he really do this? He said on one of his messages that he is taking me to court for joint custody and the other papers I got do say the trial has been postponed awaiting this mediation. Please help I am not sure what to think of all of this and really can not afford nor will my car make it back to Navajo County.

Sincerely,
Tired