Drop restraining order?

He wants me to drop it after 6 years. It's still in effect until a judge removes it. I still can't stand this man he is a liar and manipulator. He has stayed away and I don't think he would harm me after all these years. He's married and has more kids and I don't think he is abusive to them. We have a daughter together and he wants me to drop it so that he can attend events involving her. What shall I do? I can't get over the fact that he beat me during the marriage and me think I was the crazy one.