She told BBC Look North the process took over parents’ lives and felt like a “constant battle”.
She said: “It’s a lot of stress, you are constantly phoning the SEN department at your local authority.”
Sandeep Baines, a mother of two autistic children from Pudsey in Leeds, said her six-year-old son needed a space in a specialist school but “there are no places”.
She said she worried about her children’s future and whether they would get the help they needed.
She said: “The fighting to get them the right education and fighting to get them the support they need is so draining.”
Ms Mulroy and Ms Baines were among those who formed the group SEND Reform England, external to campaign for better support.
They travelled to Westminster to talk to MPs at a drop-in event organised by Labour MP for Norwich South, Clive Lewis.
Julian Sturdy, Conservative MP for York Outer, who was at the event, said there was a “strong argument” that the government should be putting more money into SEN support.