Yes. Cordelia and Aral took legal custody instead of Miles, which is... probably for the best, all things carefully considered--Betan law can go either way.

[Gregor swallows a sigh and considers for a moment, but even if she wouldn't likely get the story from her son later, he can't bear to be anything less than honest with Alys, particularly when asked a direct question.] Ivan was on Earth with Miles and the terrorists when, er. When everything happened. [When the shit hit the fan is an astonishingly apt turn of phrase for what happened on Earth, if Duv Galeni's reports were entirely correct, and Gregor rather thought that they were, but a lecture on barracks language would interrupt the flow of his explanation so he declines to invite it.] Everyone was shot at quite a lot by everyone else, with some Cetagandan assassins tossed randomly into the mix courtesy of Miles' ImpSec work, and Ivan was... kidnapped briefly. By Mark. He ended up physically no worse for wear, but harbors some exceedingly understandable resentment after the whole affair. This was when Mark was still clawing his way free from control of the terrorist group who created him, it was... very trying for everyone involved, from what I gather.

At any rate, I don't think it's a mistake Mark intends to make again, and he is trying. He's just... rough around the edges. To put it mildly.