View the Contract for Adult Child Living at Home in our extensive collection of PDFs and resources. This guide provides sample plans for parents to use in reaching agreements or presenting proposals to the court.How do I fill this out? This agreement is made between. View forms and instructions when all parties agree to a change to custody, parenting time and child support. When you have an adult child is living at home, a contract can help address concerns and keep everyone at ease. Step 4: Complete the Stipulation (Agreement) to Modify the Prior Court Order Regarding Parenting Time or Parenting Time and Child Support.