Can a 14 year old in Colorado petition to request a on-camera interview with the judge to plead his case for which parent he wishes to live with?

There's nothing to prevent the 14 year old for asking to give input to the court in the matter. However, the court isn't required to grant the request (although at 14 many judges WILL give ear to what the minor has to say).

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Just to add. If the Judges allows said minor to speak in court the Judge is not obligated to rule in favor of minor's choice

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Your best advice legal advice does not come from internet message boards, Police, friends, family, your neighbors etc.It comes from an Attorney. Advice given here should not replace legal advice from a qualified Attorney.
Non legal parenting and relationship issues http://www.parentnook.com/forum/

Does the minor have a right to have his own representation? can he petition even if there are no current motions currently in the courts? He is currently living in CA with his father and is very unhappy and his father won't allow him to choose and when he tried to refuse to return at Christmas his father called the police (who said he was old enough to decide for himself) and the filed an emergent motion for him to be returned (since the police would not make him go) and I didn't have $15,000 to fight him in court and so my son agreed to return but is hoping that someone will hear his voice about the situation. I don't know how to help him. I cannot afford an attorney.

You can file for a modification of custody without an Attorney but its not recommended

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Your best advice legal advice does not come from internet message boards, Police, friends, family, your neighbors etc.It comes from an Attorney. Advice given here should not replace legal advice from a qualified Attorney.
Non legal parenting and relationship issues http://www.parentnook.com/forum/

Have you browsed through the information in LawInfo's Free Legal Resource Center to learn more about your issue yet? See: http://www.lawinfo.com/consumer.html and http://resources.lawinfo.com/en/index.html. You can certainly try to speak to a lawyer to determine what legal options may be available. In the meantime, you may be able to learn more on your own. Search the "Free Legal Resources" tab, or browse the Consumer Resources. Good luck.