Do I need to go to court to see my mother?

I am new here and I am surprised to find out so many have the similar situation as I am experiencing. I just went to see my mum at my sister’s house and been rejected, my mum wants to see me, but my sister insist that nobody wants to see me, despite my mum said she want to see me. She is controlled and emotionally stressed I can see. As they are living in the first floor, I can hear her outside of the window. I’m the end, sister allowed me to have a three second visit from the window, since my mum said he want to see me for once. Maybe we both know would be the last time I will see her. Then my sister called the police to chase me out of the place. I was still traumatized by this. Does anyone have a good ending with this story?