I think its sad and pathetic that some NRPs won't even take the first (very inexpensive) step, instead bleating that it'll cost thousands and be too stressful.
In our situation, my ex husband visited a solicitor to push for contact after the DC chose not to see him for a while following an incident where he assaulted one of them and scared the shit out of them.
I received the letter, asked the kids if they wanted to see him at all and they said maybe someday. So I visited my own solicitor and said this. We wrote back to his solicitor suggesting a familiar place to the children and handover by a familiar person (they are both autistic). He refused that, saying he would only accept it at a children's centre. Despite the staff at the centre telling him they probably weren't the right environment for them for multiple reasons, I agreed to this and dates were arranged.
He didn't show up to the first session. He didn't respond to phone calls (from the centre, from me, from the children (yes they were old enough to have their own phones at this time and I encouraged them to stay in touch with him this way)).
We persevered and he turned up to the following session. After a handful of sessions where he would turn up late or need to leave early, the kids were losing interest and after a discussion with the centre staff, it was decided that the children would just get in touch with him when they wanted to, and that he was to keep in touch with them via phone and suggest days out etc to see if they were up for it.
At this same time, I was going through a difficult time, and had reached out to social services for support. They insisted to me that my ex husband was willing and able to help care for the children, that he understood their needs and that after speaking to him they couldn't understand why I was "preventing him from seeing the children".
Three years have passed. He's seen them once. He sends a text on their birthdays and Christmas. He puts money in my bank for their birthday and Christmas, but doesn't even pop a card through the door, despite living 15 minutes away and regularly being at his girlfriends round the corner.
He walked past our teenage daughter last week, then when she text him to say hi he said he hadn't recognised her as she's getting so grown up.
He still tells people I have alienated the kids and stop him from seeing them. The kids are well aware that if they want to see him, I am more than happy to drop them off, pick them up, make arrangements, fund, or whatever they need to make this happen.
He doesn't know them. The eldest texts him sometimes about computer games, which sometimes takes him a few days to respond to. The youngest couldn't care less at the moment. He was fairly disinterested in them whilst younger, but did "his duty" by seeing them, but hasn't bonded with them really, especially the youngest.
Yet he still tells people I'm the bad guy. That I've prevented him seeing them. He is delusional.