Joseph Duggar wants to see his kids, but there’s a problem … he’s barred from having unsupervised contact with minors as a condition of his ongoing child molestation case … and now he’s trying to get that changed.

The “19 Kids and Counting” star — one of Josh Duggar‘s brothers — filed new legal docs asking the court to amend his no-contact order to allow contact with his own biological children … according to online court records.

As we’ve told you … Joseph was arrested in March and charged with lewd and lascivious behavior, involving unlawful sexual activity with a minor … after a 14-year-old girl told law enforcement about several alleged incidents with Joseph she claims occurred during a family vacation in Panama City Beach, FL in 2020 when she was only 9 years old.