I’m an attorney. I practice in Texas, not Missouri, so I know only the laws of Texas that relate to parents’ rights regarding children. Assuming Missouri laws are like Texas laws, chances are there was a court case regarding the children filed in the county where the children lived with their grandmother. If your friend goes to the clerk’s office in the county courthouse, the clerk will pull the file and your friend can read the document he signed that terminated his parental rights. That document and perhaps others will explain his rights regarding the children. If your friend terminated his right to possession of the children, he won’t have the right to see them – what people call “visitation.”
If your friend can’t afford to hire a lawyer, he may find a family law legal aid group or lab at a law school to provide no-cost or low-cost representation. Three groups are listed here:
http://statelaws.findlaw.com/missour...-columbia.html
Note to Unique_Carpenter: If someone says they have no money to pay a lawyer, it’s probably not a good idea to refer them to a private lawyer. Over the years, I’ve referred dozens if not hundreds of indigent people to private attorneys, and I think not one ever hired a lawyer. Such referrals are just a waste of everyone’s time. If you met a poor man on the street who told you he was hungry, would you tell him to go to a restaurant? Probably not. You'd tell him to go to a soup kitchen.