Parents Are Withholding Accident Money

Hi friends, looking for some advice. I was in a car accident a while back, the person who hit us’s insurance paid out a settlement for each person in the car’s medical care.
I am 23, and my parents refuse to provide me with the money still. The insurance company and lawyers designated 19k for me for care, and I was coerced (as an adult) into signing the agreement that my parents would receive one check for all of us in the accident, but would give us access to the money. (I knew it was a bad idea but my mother said if I didn’t then we wouldn’t get the money) However, they do not allow me any access to the money. They withhold it and threaten that if I sue for it, they will donate all of it to a Catholic charity (????).
I do not want to go through my parents forever, begging them to give me my money, and I don’t want to threaten a lawyer without actually knowing here if I have a case. Its frustrating because sometimes they will pay a bill if they feel it is “necessary” but only when they feel like it. I just want to be in charge of that money as a individual and adult. Any advice on what to do here??
I have documentation from the lawyers office of how much was for me and everyone else involved, but also documentation that I would let my mom cash the check.
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