How to go about getting my dog back?

Well, essentially me and my family had lost our home 6 months ago and were looking for another place. I could not bring my dog to my Aunt's house as they had a dog that was a known dog killer. As I was searching for a place for my furry friend to stay at until we all found a new home, two women neighbors had offered to take care of him until we got back on our feet. I really did not trust them to be honest, but I had run out of options and I agreed I would give them 100 bucks (you know as incentive) when we we finally had our own place where he could roam. Well, we finally got out own place and they are now refusing to give him back. Honestly, for a time I was actually considering giving my dog to them anyways, as they were/are taking good care of him, and my grandma had also just ped away which had sent me into a deep depression. Fortunately I came out of it, unfortunately they are refusing to give him up (though I never actually offered to give him away). We now have more property then we did before, I have his adoption papers and vet papers. I know I should probably start by calling the police and/or get ready for civil court, but I was hoping to get a better understanding of my rights and how I would go about successfully getting my dog back with as little drama as possible. I've never had to use the police or the courts for anything and I thought I would check with the internet with it's collective knowledge before I make any brash moves. Any advice will be very much appreciated! If it helps I live in the state of Alabama. I hope I got the right category for this Thank you.