My childs father and I have a notorized agreement that gives me sole custody and open visitation for him. It doesn't say that he can leave the state with her. We live in different states. How can i get the agreement to a judge, since it is an agreement we both signed, without the cost of a lawyer.

Just go file in the local family law court the agreement and ask the court to ratify and approve this agreement. If you feel that taking the child out of state needs to be addrssed, address it in an addendum to the agreement.