How Do We Obtain Visitation Rights

My husband has a child by another woman. She doesn't want him to see the baby if I am around. She also said that the baby have to wait until he starts talking before he can come around me. He wants to spend time with his son. I told him that I don't want to be the cause of him not spending time with his son. Right now she is living in a shelter with the baby with no job. What would the rights be for my husband?