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Attorneys for Rowe, the biological mother of Jackson's two oldest children, announced the agreement with Katherine Jackson.
Terms of the agreement, announced Thursday, call for Jackson's mother to remain guardian of the pop icon's three children, who range in age from 7 to 12. The singer specified in his 2002 will that his mother should care for his children.
The statement says no money is changing hands as a result of the agreement.
Rowe's visits will be determined by a child psychologist selected and paid for jointly.
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