Quick answer
Ask the issuing court about the required process. An order is not changed merely because the parties agree.
Do now
Obtain the complete order and identify the exact change requested. Seek independent advice and safety planning, especially if pressure or threats influence the request. Continue following existing terms until legally changed.
Watch for
A civil applicant does not control every criminal charge. The court may require a hearing and assess voluntariness or safety before changing an order.
Official sources
NJ Courts — Domestic Violence, NY Courts — Domestic Violence / Family Offense, DC Courts — Domestic Violence Division.