To ask the judge to order that you can have visitation with your grandchildren, you need to either join an existing custody case or start your own. In California, under Family Code section 3100, the family court may grant reasonable visitation rights to the grandparent of a minor child.Explain the reason why grandparent visitation is in the best interest of each child: continued in attached declaration. 4. Send sample petition for grandparent visitation via email, link, or fax. You can also download it, export it or print it out. If a child's parents are married or have no open case against each other, you will have to file your petition from scratch. To fill out the forms for grandparent visitation, first download all required documents included in this packet. Family Code §§ 3102, 3103, 3104. Cal. A grandparent who wants to ask the court to order visitation with their grandchild can file a petition in court.