In divorce court, do the kids have a say in who they get to stay with?

My mother is ruining all our lives by cheating on my dad, and my dad is too mindfucked to go to work. She is destroying the inexistent remnants of whatever family and now my mother is trying to get the kids and immediately get married to the man she's cheating on my dad with (... ... ...) The kids don't want to leave my dad because they're old enough to know that my mother is doing wrong. Do the kids have a say in who they want to stay with?