You can do this by applying for 'consent orders' to be made without having to attend a court hearing. The Family Court has a Consent Orders Kit available to help people wishing to sort out their arrangements themselves.
Consent orders have the same legal force as if they had been made after a court hearing.
Consent orders are usually considered 'in chambers', that is in the office of a registrar. However if the orders you seek are inconsistent with a family violence order between either of you or any of your children then your application must be heard in open court. In this case you may need to consider submitting a different type of application. You should contact your nearest registry or seek legal advice before proceeding any further. Single copies are available free from all registries of the Court.