Advice for dealing with visitation arrangement?

I recently took custody over my younger cousin. She used to live with our grandmother since my aunt gave up her parental rights. Things were too great with my grandmother so DSS removed my cousin and i took over custody because she wanted to live with me. Her mother (my aunt) has visitations with her on fridays from 5pm-7pm. This was arranged with the court and my grandmother at the time. I agreed to keep the current arrangement, actually offering for my aunt to see her daughter anytime she wants as long as she calls ahead of time so we can be home etc. Well my aunt didnt show up for the first 4wks of my cousin living with me, until one day she ran into a family member and they told her she should come see her daughter, no-one is stopping her. so she decided to call me that friday and ask me for a ride (she has her license but no car) basically pick her up, bring her to my house for her visit. So i said i would.