TMZ broke the story ... The Department of Human Services stripped the MTV stars of custody of their daughter Jocelyn last year, after police found deplorable living conditions in their home like feces covered walls, maggots and flies.

But all that's behind them now. TMZ spoke to Josh, who says he and Ebony enrolled in a rigorous program of counseling and parenting classes to learn how to care for their child and were officially granted full custody again.

Josh says, "Our family is finally back together and we are doing great. We got the help we needed and did what we needed to do. We will never make the same mistakes again."

Josh tells us, there are no restrictions placed on the custody agreement, but over the last year they were subjected to random home inspections by the DHS.