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If you want to file a counter-petition, you must do it at the same time you file the Answer. A counter-petition is the Respondent's request that the divorce be granted and that the court order certain relief.
Why file a counter-petition? If you want the court to order specific things not requested in your spouse's petition, you may want to file a counter-petition. In a previous post we talked about the situations in which you need to make specific allegations in a divorce petition. If any of those situations apply to your case, you may want to file a counter-petition. If you definitely want the divorce and are worried that the petitioning spouse may not complete the divorce, you should file a counter-petition so that you can complete your divorce petition.