Sam and Shannon claim Sam’s mother, Kim, tricked them into signing over guardianship of their son to her when he was 6 months old. They say for the past four-and-a-half years she’s been keeping the boy, Conrad, from them while raising him 600 miles from where they live, and that she will not return him unless they meet her “outrageous demands.”

“A month after I had Conrad, Kim tried to control every aspect of me being a mom,” Shannon claims. “She attacked my parenting style, didn’t like the diapers I used. She would come over and bathe Conrad because she said I wasn’t capable of doing it right.”

WATCH: Why Father Hasn’t Seen His Son In 2 Years: ‘I Work A Lot’

Shannon also claims that Kim was “constantly butting into our lives,” would show up at their house unannounced and would “stir up drama” in her relationship with Sam.

Kim, however, claims that her grandson was being raised in a home with maggots, moldy baby bottles and dirty dishes, so she was forced to take guardianship of the child.

“I felt like someone needed to step up and take care of this innocent baby, and if that meant I was being controlling and overbearing, then so be it,” Kim says.

In the video above, Shannon tells Dr. Phil her story.

Who does Dr. Phil think the child should end up with? This episode of Dr. Phil airs Wednesday. Watch more here.