If you believe your matter is urgent, your lawyer (or you, if self-represented) can file an Initiating Application with the court, along with a supporting Affidavit outlining the urgency and evidence. You must also file a Notice of Child Abuse, Family Violence or Risk if relevant. You will also need to provide a cover letter as to the urgency, outlining, the nature of the application and the basis upon which an urgent listing is required. If proceedings for parenting orders have already been started, you will need to make your urgent application by filing an Application in a proceeding. That will then be considered by a registrar as a matter of priority.
Importantly, you will need to ask the court to list the matter urgently, this can be done by filing a Request for Urgent Listing, or by stating the urgency in your affidavit.
The court will review the documents and decide whether to allocate an urgent hearing date, sometimes within a few days if the situation is serious enough.