Brittany and her ex-husband, Jeramie, say they divorced about a year after their oldest child, Seth, was born, but have continued to be romantically involved off-and-on for the last 18 years.

TELL DR. PHIL YOUR STORY: Explosive Family Drama?

The former couple, who also have two daughters, ages 11 and 9, stopped living together about a year ago. They say that when it comes to co-parenting their kids, they’ve tried a number of options, but so far, nothing has worked.

WATCH: Teen Claims His Parents Are Toxic ‘And Lie To Each Other All The Time’

“I think it’s imperative that you guys come up with a co-parenting plan,” says family attorney, Ann-Margaret Carrozza, adding, “That should be in writing, because when we put something in writing, it guards against faulty recollections or faulty expectations.”

Continuing, Ann-Margaret advises them to avoid unnecessarily inflaming the other and to never deprive the other parent of contact with the children.

When Dr. Phil offers to set Brittany, Jeramie, and their children up with a family counselor, will they agree to go?

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TELL DR. PHIL YOUR STORY: Family conflict creating drama?