Custody of child

I need the best opinion I can get from everyone. I need to get custody back from my mom for a 11 year old boy. I gave my mom custody of my son for a few years know. The only reason why I did that was because I was living up in the womens shelter and I didnt want to take my son there because I didnt want my son to experience living in the shelter. I been through it myself as a child. Know since I left my moms house I need to get custody back of my son but my mom says that I will never get custody back from her. So I'm kinda stuck on what to do.