I would like to file a restraining order.  Please help.

Me, my wife and my three daughters are being harassed by an individual i've knkown for 3 years, by sending texts messages, phone calls, and he trespasses to out property in the middle of the night bang on windows to wake us up and shout profanities outside the house gates. We called the police on him so many times nut he gets away. On one incident in the house, he harassed me and he end up getting 3 charges; assault with a deadly weapon, residential burglary, false imprisonment. Last month he got apprehended and spent some time in jail.