Need some advice...

I have had guardianship of my nephew who is now 14 for the past 5 years, before that another aunt of his had him for 8 years. In those 13 years his mom has seen him maybe 4 times. Now she's wanting to see him and my nephew is skeptical about it. He has already told me that he don't want to see her bcuz he hasn't seen her in 5 years, he hasn't heard from her as well, no phone calls, birthday cards or anything. I have invited her over to see him but when I do she always declines saying she don't have the gas money but the next day she's going out of state or driving over 100 miles away from where she lives. We only live maybe 10 miles from her...so my question is, should I take him to see her whether he wants to or not? Or do I go by what he says?