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A dependency action is usually brought by the State to take legal care and control of minor children from their parents or guardians because of abuse or neglect.
You as a parent have what are called fundamental rights in a dependency, you have the fundamental right to parent your children.
Yes, because dependencies affect your fundamental rights you get an attorney appointed if you cannot afford one.
Your parents have the permissive right to intervene into the case if they so wish as a third party.