Should I take action or let her work at her pace?

My ex-wife won't bring our soon to my place so I can spend time w/ him and when I go to her place she makes up excuses to leave after 10 minutes w/ my son. I've been living in the US since I was 5 and i'm now 24, I don't have a license so I can't drive to pick him up but she won't allow a license driver to go w/ me and pick him up. She say's she won't put child support on me but she won't let me see him, should I go to court accept child support and see my son or wait it out?