i gave my parents full custody of my daughter now i need to know how to get it back?

Unless your parents are willing to give up custody, then the only thing you can do is get an attorney and sue your parents for custody. Be ready for the judge to tell you it's in the child's best interests to continue living with your parents, unless you have made some significant strides in your life (finished high school, finished college, have a good job and a safe stable home). The scenario you describe - the court will make the determination if the father is to have any visitation, and may require a paternity test to get child support from him. You really need to be working with an attorney. On a separate note, if the father wants visitation, there is nothing you or your parents can do to stop that if he sues for such in court.

" i would also like to get child support as well but would it be better to wait ubtil after the custody to go back and do child support court" With child support comes visitation rights. You'd better get used to that fact.

With all due respect, this last statement makes you look like someone who is looking for a free ride...

I dont understand how your parents having custody would prevent father from seeing or trying to have custody of his child? Do you have a decent income? Will you be able to support the child? The problem is she has been in their custody for four years and they will say she has bonded with them by now and its in her best interest to stay with them. But its possible to come to some sort of joint custody, maybe. Try to find a lawyer. Start making phone calls to lawyers and see what advice they give you. If they cant help you, have them refer you to someone who will. Thats what I would do.