Opinion of the Court by
ACOBA, J.
We hold that a parent’s allegations of a violation of the Americans with Disability Act (ADA), 42 U.S.C. §§ 12131 through 12134, do not raise a defense in a proceeding to terminate parental rights under Hawai'i Revised Statute (HRS) § 587-73 (1993). However, Department of Human Services-Appellee (DHS) should provide “[e]very reasonable opportunity” to a parent to succeed in reuniting a family, HRS § 587-1 (1993 & Supp. 2001), particularly in establishing the steps necessary to reunite the family in the form of a service plan.1 See HRS 587-26 (1993; Supp.2001). In addition, we hold that a criminal charge, conviction, or incarceration does not per se result in the forfeiture of parental rights, but confinement can be considered a factor in deciding whether a parent may provide a safe family home in the foreseeable future. In the instant case, allegations of ADA violations raised by Mother-Appellant (Mother)2 do not constitute a defense to the termination of parental rights in her daughter, Jane Doe (Jane). Further, Mother failed to demonstrate that she was substantially prejudiced by DHS’s alleged failure to assist her in complying with the court’s service plan for reunification with Jane. As to Father-Appellant (Father), despite his contention that the Family Court of the First Circuit3 (the court) erred in concluding that he was incapable of providing a safe home for Jane, presently or in the reasonable future, the court’s findings that he was incapable of doing so were not clearly erroneous. There[338]*338fore, we affirm the court’s January 11, 2001 order, which granted custody of Jane to DHS, and the January 19, 2001 order denying reconsideration of that order.
I.
Both parents appeal sepai'ately from the January 11, 2001 final order awarding permanent custody of Jane to the DHS, as provided by HRS chapter 587, the Hawaii Child Protective Act (CPA), and the January 19, 2001 order denying reconsideration by the court. Mother contends that the court erred in concluding that: 1) Mother is not willing and able to provide Jane with a safe home within a reasonable period of time; 2) DHS made reasonable and active efforts to reunify Jane with Mother; and 3) the ADA is not a defense to the CPA. Father argues that the court erred: 1) in concluding that Father was not willing to engage in court-ordered services and to provide a safe home for Jane; 2) in ruling that DHS exerted reasonable and active efforts to reunite the family; 3) in failing to order placement of Jane with a “calabash” cousin; and 4) in committing several procedural errors.
II.
Jane was born two months prematurely in Honolulu, Hawaii on December 29, 1999. She suffers from a breathing problem and came to DHS’s attention after she was hospitalized on May 19, 2000 for cyanotic episodes (bluish discoloration around the lip). According to Jane’s guardian ad litem, Jane appeared very frightened and suspicious of people.
Mother suffers from a mental health disorder with reoccurring episodes of self-mutilation. Past incidents have included scratching her forearms, stabbing herself in the abdomen and neck, and hitting her head.
Father has been incarcerated since October 2000, and his parole was revoked on November 15, 2000. He is currently serving a felony term which has a maximum expiration date of February 7, 2005. The com! noted that he was on trial for a second charge of assault involving an incident between Mother and Father, although the current status of that charge is not clear.
On May 22, 2000, according to the Kapiola-ni Hospital staff, Father dropped Jane to the floor and she was found “spinning” in wires that connected her to a machine. When the staff confronted Father, he allegedly became angry and left. Father contends that he was attempting to burp Jane and was unable to do so because the wires were tangled.
On the same day, upon leaving the hospital, Mother threatened to kill herself with a knife. Police were called and Mother was taken to a hospital. Upon admission to Queen’s Medical Center, Mother tested positive for the use of crystal methamphetamine.
At this time, Mother admitted to DHS that she had been previously hospitalized for mental health treatment after similar suicide attempts. Following a prior hospitalization of Jane in January 2000, however, Mother refused mental health and public health nursing services offered by Kapiolani Hospital.
During this interview, DHS learned that Jane had been discharged from the hospital with an APNEA monitor4 in January 2000, but the parents had returned the monitor. The parents claimed that the monitor was defective because it gave off numerous false positive readings and they received permission from them doctor -to discontinué -use of the device. Subsequent to Jane’s discharge on May 31, 2000, she was placed on an APNEA monitor and was kept on it until August 2000.
On May 24, 2000, the Honolulu Police Department assumed protective custody of Jane. Jane was immediately placed in temporary foster custody by DHS pursuant to HRS § 587-22(c) (1993 & Supp.2000). A petition was filed on May 30, 2000, alleging that the parents lacked the appropriate parenting skills to provide a safe home and that Mother’s mental health problems and possible substance abuse threatened harm to Jane. Mother and Father were both served [339]*339with a copy of the summons, petition, and a certified copy of the initial Safe Family Home Report and Interim Family Service (service plan).5 The service plan required the parents to participate in substance abuse assessment/treatment and random drug testing; the plan also mandated cooperation with DHS social workers.6
On June 1, 2000, a heating was held regarding the petition. An attorney, retained by Father, appeared on the parents’ behalf and requested a continuance so that the parents could be present at the hearing. The court continued the hearing date to June 8, 2000, and awarded temporary foster custody of Jane to DHS.
At the June 8, 2000 hearing, Mother and Father again failed to appear.7 Without objection, the court took jurisdiction over the matter, awarded foster custody of Jane to DHS, and ordered the sendee plan be implemented and psychological evaluations of both parents.8 The court also entered defaults against the parents and issued bench warrants for both of them. All parties were ordered to appear at a review hearing on August 21, 2000.
On June 15, 2000, warrants were issued, and Mother and Father were arrested the next day. They appeared before the court on June 19, 2000. Both expressed a willingness to cooperate with the DHS social worker. They agreed to undergo psychological evaluations and to comply with the service plan. Mother and Father were ordered to meet with the social worker as soon as possible and to attend a review hearing on August 21, 2000. Applications for court-appointed counsel were submitted, and new counsel were appointed for each parent by the court on June 26, 2000.
On August 21, 2000, the parents again failed to appear in court and defaults were entered. A service plan prepared by DHS on August 7, 2000 was ordered. Based on the parents’ failure to attend the hearing, the presiding judge ordered DHS to file a motion for permanent custody of Jane. DHS timely moved for permanent custody of Jane to be transferred to it pursuant to HRS § 587-73 (1993 & Supp.2001). At the next hearing on September 21, 2000, Father again failed to attend and the matter was scheduled for trial on October 6, 2000.
[340]*340On October 6, 2000 and October 9, 2000, a permanent custody trial was held. All parties were present. After hearing all of the evidence, the court found by clear and convincing evidence, pursuant to HRS § 587-73, that neither Mother nor Father were presently willing and able to provide a safe family home for Jane, even with a service plan, and that it was not reasonably foreseeable that Mother would become willing and able to provide a safe family home for Jane. The court specifically rejected Mother’s claims that, pursuant to the ADA, she suffered from a disability and, thus, more time and services should have been offered to her before her parental rights were terminated.
On the other hand, the court continued the motion for three months as to Father, because it believed that Father could potentially provide a safe family home if he was acquitted on assault charges relating to Mother and his parole was not revoked. The court ordered Father to contact DHS and Jane’s guardian ad litem within forty-eight hours of his release from incarceration, provide certificates of completion of services to DHS without delay, and complete a psychological evaluation with a provider approved by DHS.
On January 11, 2001, during a permanent custody hearing, DHS offered evidence that Father’s parole had been revoked and that Father would not appear before the paroling authority for parole consideration until November 2001. Father testified on his own behalf about his efforts to comply with the service plan while incarcerated. He also argued that he could provide for Jane by having her placed with his “calabash” cousin.
The court granted DHS’s motion for permanent custody, concluding by clear and convincing evidence that it was not reasonably foreseeable that Father would become willing and able to provide a safe family home for Jane within a reasonable period of time. The court specifically noted Father’s failure to participate in any service offered to him by DHS, before and after he was incarcerated. In addition, the court observed that Father had anger problems and an inability to provide for Jane. Because of the evidence already considered, the court ruled that a permanent plan of custody to DHS for eventual adoption was in the child’s best interest. Timely motions for reconsideration, pursuant to HRS § 571-54 (1993), were filed but were denied by the court.
III.
On appeal, Mother argues that DHS “is a public entity authorized by the state and is therefore subject to the provisions of the [ADA.]” Inasmuch as the court found that she suffers from a “severe mental health disorder[,]” she claims that DHS is required to make “reasonable accommodations” on account of her mental disability to enable her to participate in DHS services and programs. Mother asserts that DHS did not make such accommodations. Accordingly, she requests that the court’s orders be reversed and a new trial be commenced, with more time and accommodations provided for Mother to comply with the service plan.
Many of the cases examining the issue of parental rights and the ADA hold that a termination proceeding is not a “service, program, or activity” within the definition of the ADA and, consequently, the ADA does not apply to such proceedings. See In re Anthony P., 84 Cal.App.4th 1112, 101 Cal.Rptr.2d 423, 425 (2000) (“a proceeding to terminate parental rights is not a governmental service, program, or activity”); In re Antony B., 54 Conn.App. 463, 735 A.2d 893, 899 (1999) (the ADA “neither provides a defense to nor creates special obligations in a parental rights termination proceeding”); M.C. v. Dept. of Children and Families, 750 So.2d 705, 706 (Fla.Dist.Ct.App.2000) (“[Dependency proceedings are held for the benefit of the child, not the parent.”); In re Terry, 240 Mich.App. 14, 610 N.W.2d 563, 569 (2000) (“Termination of parental rights proceedings are not ‘services, programs or activities’ ... [and] therefore a parent may not raise violations of the ADA as a defense to termination of parental rights proceedings.”); In re Adoption of Gregory, 434 Mass. 117, 747 N.E.2d 120, 125 (2001) (“Proceedings to terminate parental rights are not ‘services, programs, or activities,’ under provision of [the ADA] ... and therefore, the ADA is not a defense to such proceedings.”).
[341]*341There is a smaller number of courts that avoid the ADA question by “finding on the facts presented that the State agency, through the provision of services designed to meet the parent’s special needs, had met any obligations that might be imposed by the ADA.” Gregory, 747 N.E.2d at 125 (citing In re Angel B., 659 A.2d 277 (Me.1995) and In re C.M., 526 N.W.2d 562 (Iowa Ct.App.1994)); see also In re A.J.R., 78 Wash.App. 222, 896 P.2d 1298, 1302 (1995).
A few courts hold that the ADA may be a defense to parental rights termination cases. See In re C.M., 996 S.W.2d 269, 270 (Tex.Ct.App.1999) (suggesting that the ADA may be defense to a termination proceeding, but rejecting the defense on procedural grounds); Stone v. Daviess County Div. of Children & Family Servs., 656 N.E.2d 824, 830 (Ind.Ct.App.1995) (if there were a statutory requirement to exert reasonable efforts to reunite parent and child, then that statute would be preempted by the ADA, but because there was none, the ADA did not apply).
IV.
A.
We hold that allegations of an ADA violation are not a defense to a termination proceeding because any purported violation may be remedied only in a separate proceeding brought under the provisions of the ADA.9
In re B.S., 166 Vt. 345, 693 A.2d 716 (1997), is illustrative. In that case, the mother was a moderately retarded woman who appealed termination of her parental rights. She claimed that the social services defendant had not accommodated her disability under the ADA, failing to provide “services needed to parent her child.” Id. at 720. In rejecting the mother’s claim, the Vermont Supreme Court concluded in part that the remedy for an alleged violation under the ADA is by way of a separate private right of action and/or grievance procedure as set forth in the ADA itself:
We further note that nothing in the ADA suggests that denial of [a termination proceeding] is an appropriate remedy for an ADA violation. Under analogous circumstances, other courts have refused to graft ADA requirements' onto unrelated statutes. This is not to say that the mother is without a remedy if [the state agency] has violated the ADA. The ADA provides for a private right of action for Title II violations, 42 U.S.C. § 12133, and its regulations require public entities to adopt and publicize grievance procedures, 28 C.F.R. §" 35.107, and outline a federal complaint procedure, id. § 35.170. Pursuant to these provisions, the mother could have filed a complaint or brought a civil action to obtain relief.
Id. at 721 (citations omitted). Thus the court held “the mother may not raise violations of the ADA as a defense to [a parental rights termination] proceeding.” Id. at 722.
In In re B.S., the Vermont Supreme Court relied on In re Torrance P., 187 Wis.2d 10, 522 N.W.2d 243 (Wis.Ct.App.1994). In Torrance, the parent, Raymond C., was “developmentally disabled and unable to read.” Id. at 244. He maintained that the department of human services “violated the ADA by failing to reasonably accommodate his developmental disability, and that this failure to accommodate was a substantial factor resulting in the [termination] order.” Id. The [342]*342Wisconsin Court of Appeals held that under Wisconsin statutes the county must show by “clear and convincing evidence that the agency responsible for the care of the child and the family has made a diligent effort to provide the services ordered by the court[,]” id. at 245 (internal quotation marks and citation omitted), and concluded that “the trial court’s finding that the County made a diligent effort to provide services ordered by the court is not clearly erroneous.” Id.
However, in denying Raymond’s request to overturn the termination order, the Wisconsin Court of Appeals held that his claim may be the subject of “a separate cause of action under the ADA,” unrelated to the termination proceeding:
Congress enacted the ADA to eliminate discrimination against people with disabilities and to create causes of action for qualified people who have faced discrimination against people with disabilities and to create cause of action for qualified people who have faced discrimination. See 42 U.S.C. § 12101(b). Congress did not intend to change the obligations imposed by unrelated statutes. Raymond may have a separate cause of action under the ADA based on the County’s actions or inactions; such a claim, however, is not a basis to attack the [termination] order.
Id. at 246.
There is nothing in the ADA that indicates that an appropriate remedy for an ADA violation is the reversal of a parental termination order. See In re La‘Asia S., 191 Misc.2d 28, 739 N.Y.S.2d 898, 909 (2002) (“ ‘nothing in the ADA suggests that denial of [a termination order] is an appropriate remedy for an ADA violation’ ”) (quoting In re BKF, 704 So.2d 314, 317 (La.App.1997)); In re B.S., 693 A.2d at 721; Torrance, 522 N.W.2d at 245. Instead, the ADA provides for a private right of action,10 and mandates that public entities adopt and publicize grievance procedures. See 42 U.S.C. § 12133; 28 C.F.R. § 35.107. Nor is there is anything in the ADA or its legislative history suggesting that it was intended to be grafted onto state statutes for the purpose of supplementing remedies already provided for in such statutes. See In re B.S., 693 A.2d at 721. Accordingly, we hold that mere allegations of an ADA violation do not constitute a defense in a termination proceeding.
B.
In In re Jane Doe, Born on February 2, 1999, 100 Hawai'i 20, 58 P.3d 78 (App.2002), the Intermediate Court of Appeals (ICA) held that a termination of parental rights proceeding (termination proceeding) is a “program” or “activity” covered under the ADA. Applying the ADA, the ICA addressed the merits of the parents’ claim.11 As we hold here, such claims cannot be raised in a termination proceeding as a defense. Thus, the merits of such claims are not properly decided in a termination proceeding in the family court and are not appropriate for decision on appeal from that court. The merits are outside the purview of the family court in a termination proceeding, and thus In re Jane Doe, except for its affirmance of the family court’s orders, must be overruled.
The concurrence/dissent disagrees with our decision to overrule In re Jane Doe, stating that “[t]he majority opinion fails to [343]*343make the distinction between ‘services, programs, or activities’ offered by DHS, specifically pursuant to an individualized family service plan, and the [termination] proceeding itself.” Concurring and dissenting opinion at 847, 60 P.3d at 297. Respectfully, the eoncur-rence/dissent fails to note that we do not hold that the termination proceeding is not a “service, program, or activity[.]” As the Vermont Supreme Court noted, “we do not mean to suggest that parents lack any remedy for ... alleged violations of the ADA[,]” In re B.S., 693 A.2d at 722, such as where “the family court had an unwritten policy of automatically terminating parental rights in all eases” where a parent was disabled. In re Jane Doe, 100 Hawai'i at 30, 58 P.3d at 88.
We are not presented with a separate case where a parent has raised an affirmative claim under the ADA against the DHS. Instead, Mother has presented an alleged violation as a defense to a proceeding involving her parental rights. The concurrence/dissent fails to indicate any section of the ADA or ease law that supports the proposition that “an ADA defense may be properly raised in a [termination] proceeding!,]” concurring and dissenting opinion at 347, 60 P.3d at 297. Quite simply, the statute does not state that an appropriate remedy for an ADA violation is to allow an injured party to utilize the ADA as a defense in a separate proceeding.12 See Stone v. Daviess County, 656 N.E.2d at 830 (“any alleged noncompliance with the ADA ... [is] a matter separate and distinct from the operation of [a termination proceeding]”); In re Torrance P., 522 N.W.2d at 244 (an “alleged violation of the ADA is not a basis to attack [termination] proceedings”).13
V.
We note, however, that DHS is under an obligation to provide a reasonable opportunity to parents through a service plan to reunify the family. See HRS §§ 587-1 and 587-26. The “purpose; construction” section of chapter 587, HRS § 587-1, establishes the legislative intent to provide “[e]very reasonable opportunity” for a parent to be reunited with his or her child. Moreover, HRS § 587-26, which mandates that DHS create a service plan outlining “[t]he steps that will be necessary to facilitate the return of the child to a safe family home,” further indicates that DHS has an obligation to make reasonable efforts to reunite parent and child.
Here, DHS was aware that Mother suffered from a severe mental problem at the time the service plan was ordered. Despite this, the only aid DHS seemingly offered to Mother was to provide her with phone numbers of the counselors whom she was expected to contact. DHS apparently did not follow up with respect to this requirement. Merely proffering a list of phone numbers may fall short of the policy that DHS make every reasonable opportunity to reunite the family. However, under the circumstances, we cannot conclude that substantial prejudice resulted to Mother. See Hawai'i Family Court Rules Rule 61 (2000).14
[344]*344As DHS contends, and Mother does not contest, Mother specifically stated that she did not participate in DHS-offered services because she did not believe she needed parenting education or drug testing. Nor did she participate in services offered to her earlier while she was at Kapiolani Hospital. It is apparent that Mother was unwilling to participate in DHS services. In addition, it seems that, as DHS argues, Mother never contested the service plan or requested additional services or accommodations from DHS until the start of trial. Manifestly, a claim for additional services and accommodations must be timely made. While it could be argued that Mother was hampered in asking for assistance because of her mental condition, we note that Mother was represented by counsel, who could have notified DHS on Mother’s behalf. No request, however, was ever made until trial. Under such circumstances, we cannot hold that Mother has any cognizable procedural complaint.15
VI.
In the present ease, the court was presented with clear and convincing evidence that Mother was presently incapable of providing a safe home for Jane and was unlikely to be able to provide one in the future. See In re Jane Doe, Born on June 20, 1995, 95 Hawai'i 183, 192, 20 P.3d 616, 625 (2001). Conclusions regarding a parent’s ability to provide a safe family home present “mixed questions of fact and law [which are] reviewed under the clearly erroneous standard because the court’s conclusions are dependent upon the facts and circumstances of each individual case.” In re Jane Doe, 95 Hawai'i at 190, 20 P.3d at 623. Findings were made about Mother’s substance abuse and involvement in domestic violence, which are supported by evidence on the record. In addition, the court found that Mother suffered from a severe mental health disorder, triggered under stress, which caused Mother to mutilate herself.
Witnesses also testified about Mother’s lack of parenting skills and insight into Jane’s needs. This was demonstrated by Mother’s insistence upon putting Jane to sleep on her stomach, even though she was told it was dangerous, because Mother testified “she knew what was best for her child.” In addition, Mother testified that she stopped visiting her child because the visits were scheduled too early in the morning. This testimony supported the court’s finding that Mother lacked insight into Jane’s needs. Accordingly, we cannot conclude, under these facts, that the court erred in terminating Mother’s rights.
VII.
Looking to Father’s challenges to several findings of fact, we discern no error in the court’s findings that require reversal. A finding of fact is clearly erroneous when “(1) the record lacks substantial evidence to support the finding, or (2) despite substantial evidence in support of the finding, the appellate court is nonetheless left with a definite and firm conviction that a mistake has been made.” State v. Okunmra, 78 Hawai'i 383, 392, 894 P.2d 80, 89 (1995) (citation omitted). Here, the record contains substantial evidence, or “credible evidence which is of sufficient quality and probative value to enable a person of reasonable caution to support a conclusion” consistent with the court’s findings. In re Doe, 84 Hawai'i 41, 46, 928 P.2d 883, 888 (1996).
Each of the contested findings regarding domestic violence between Mother and Fa[345]*345ther is supported by substantial evidence.16 Similarly, the findings regarding Father’s anger problems17 and lack of insight into Jane’s needs were not clearly erroneous.18
We examine in more detail Father’s challenge to the finding that he failed to appear at a psychological evaluation or initiate any of the service plan requirements. Father indicates that, while on parole, he did not participate in his service plan because he was afraid the police would kill him if he appeared for services. Once he was in custody, Father was unable to comply with the service plan because the services offered within the prison system did not satisfy DHS requirements.
We note, first, that involuntary confinement, a criminal charge, or conviction for a criminal offense does not mandate a per se forfeiture of a parent’s rights to a child. See In re J.M.S., 83 S.W.3d 76, 83 (Mo.Ct.App.2002) (citing to a governing statute and holding that incarceration by itself is not grounds for termination of parental rights); In re Brian D., 209 W.Va. 537, 550 S.E.2d 73, 76 (2001) (“[IJncarceration, per se, does not warrant the termination of an incarcerated parent’s parental rights.”) (Italics in original.); In re F.N.M., 951 S.W.2d 702, 706 (Mo.Ct.App.1997) (holding that incarceration, in and of itself, may not be grounds for termination of parental rights); In re Staat, 287 Minn. 501, 178 N.W.2d 709, 713 (1970) (“[Separation of child and parent due to misfortune and misconduct alone, such as incarceration of parent” is not per se grounds for termination); Diernfeld v. People, 137 Colo. 238, 323 P.2d 628, 630 (1958) (“We cannot hold that every convicted felon, by that fact alone, loses all parental rights in children.”). For instance, an imprisoned parent may have other family members who would be able to care for the child during the confined parent’s absence.
However, incarceration may be considered along with “other factors and circumstances impacting the ability of the parent to remedy the conditions of abuse and neglect.” In re Brian D., 550 S.E.2d at 77. Thus, if the sole caretaker of a child is confined for a long period of time, the lack of permanence or guidance in the child’s life may be a factor in considering whether the parent may be able to provide a safe family home within a reasonable period of time.
While there is no dispute that DHS had an obligation to make every reasonable opportunity to reunite Father and Jane, it is not reasonable to expect it to provide services beyond what was available within the corrections system. Obviously, an incarcerated parent is incapable, by himself or herself, of maintaining a safe family home until he or she has been released from prison. Therefore, the completion of a service plan is an empty pursuit until the parent has been released and is capable of raising a child again. At that point, the parent would be able to participate in a service plan with DHS’s assistance.
[346]*346In the present case, DHS established that it was willing to assist Father once his incarceration ended. In addition, the court delayed the award of permanent custody, specifically so Father would have an opportunity to meet the terms of the service plan. However, it was subsequently determined that Father would not be released within the foreseeable future. Accordingly, we conclude DHS made reasonable efforts, under the circumstances, to reunify Father and Jane.
VIII.
We perceive no error in Father’s remaining contentions.
He asserts that the court erred in not allowing placement of Jane in the care of a “calabash” cousin rather than terminating his parental rights. However, upon the termination of parental rights, discretion to determine an appropriate custodian is vested in DHS.19
Father argues further that the admission of the testimony from a deputy sheriff about a car chase and Father’s subsequent arrest the night before the hearing was in error. However, there was no apparent abuse of discretion in the court’s decision to allow the sheriff to testify, although he was not on DHS’s witness list,20 or with respect to Hawai'i Rules of Evidence (HRE) Rule 40321
Father also urges that the court committed reversible error during the October 6, 2000 hearing when it prevented him from continuing to cross-examine the maternal grandmother regarding her fear that Father would physically abuse Jane.22 Assuming error, however, it was without substantial prejudice to Father and thus harmless.23
[347]*347IX.
For the foregoing reasons, we affirm the court’s January 11, 2001 order awarding permanent custody and the January 19, 2001 order denying reconsideration.