My ex was caring for our son while I got back on my feet, now I want to take him back...?

My husband left me and took all our money during our divorce. I had nothing so I went to stay with my youngest child's dad. He promised to keep it platonic but he lied. He basically forced me out of the house and I moved downstairs and rented a room. I couldn't afford to take our son with me, as I had been awarded residency of him in our joint custody order. The man has harred and tried to strong arm me into being with him. I have suffered greatly and he has insulted me horribly in front of our child on purpose. I am now getting back on my feet, I have a job and I am moving into my own place soon. I have a court order that says I can take him, but I don't want to expose the boy to any more trauma and any further police involvement might mean CPS steps in....How should I handle this? The kid never goes out anymore, he got a bike for his Birthday and a month later hasn't even riden it. Should I call CPS myself and ask them how to handle it? The courts forbade the father from coming back to court for sometime because he literally dragged me through a custody battle for years....