One of your parents has to file a motion to amend their custody agreement. If there are no extenuating circumstances and your father has no issues that would make it bad for you to live with him, then most of the time the courts will take your preference under consideration and allow you to decide which parent you'd like to live with. You and your parents will be bound by the court's decision.
I think you really need to go and see a specialist in family law, or the equivalent of the UK's "Citizens Advice Bureau" in your country. Regardless as to what actions can be taken you will have to take these these actions through the courts anyway, and will probably need a legal representative in the end anyway, so you might as well start as you will have to finish.
She can challenge for custody, but the question that arises is why she do not already file a motion to modify while in possession of the child? Until a custody decision, she lacks any standing to object to the circumstances, and by the time it goes to court, the child may be a legal adult. At this point, it's a little late to take any action.
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