Can my soon to be seven year old take his father to court?

Me and my children Father have Shared Custody with my first born son only. My son goes with his father every thursdays Thur sundays. Now my son does not want to go over there anymore. I told him to talk to his dad, but he say "he don't listen", which is true because I talked to him about as well and he does not want to hear it. So my son suggest that he takes his father to court. Is that legal in the state of Pennsylvania? Yes I understand that he his young, but the boy is very bright and he knows what he want