Regarding your question and some talk about CPS.
I am very involved in a national organization called CASA (Court Appointed Special Advocate) also known as GAL in some regions of the country. You are paired with a child who is a dependant of the court, usually he or she has been neglected and abused and would be living at a foster home, group home, or at some stage along reunification with the parents. I really like this program because you're not only a mentor. You're also an advocate for the child in court. These kids don't really have anyone looking out for them, the social workers have 60 cases, the judges don't know anything about the kid, and it's your job as a CASA to be the eyes and ears of the court. I attended parent/teacher conferences, therapist sessions, etc. I made recommendations to the judge on how to best meet my child's needs. As a court appointed worker, you have more power and influence than just a mentor. I worked to move my kid to a special day school where his needs were better met. Without CASAs, a lot of these kids continue being neglected at the hands of the court system.
Find your local CASA program and volunteer, it's very rewarding.