Unfortunately there is nothing that requires a promissory note to even be witnesses to be binding. It does, however, help with its enforceability. The fact that the witness was the child of one party does not invalidate the note.
Generally, under contract law, each party would be bound by the terms of the written instrument. Promises that were not included in the instrument are unlikely to be enforceable.
Good luck to you. You may wish to explore whether mediation or even arbitration are possible ways to resolve the issue.
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The information provided is general in nature only and should not be construed as legal advice or to create an attorney-client relationship. You should always consult with a lawyer in your state