What type of attorney does a person hire to represent them in a case where cps has taken their children?

Any family lawyer or one that does dependency cases exclusively? What should thet do to make ssure the child is placed with a family member and not strangers? (when there are tons of family available with great backgrounds--teachers, ministers, pharmacists, etc)? The alternative would be to have someone through the public defenders office, right? Is counsel automatically igned with this type of case (and indigent parents)?