Petition for (Custody) (Visitation). When all of the sections in your petition and applicable attachments are complete, the petition must be notarized.To be successful, a Grandparent Visitation Petition is written as a two step process. Find and download various legal forms, brochures, and self-help kits. If a form does not open, right-click the link to save it to your computer. A grandparent or any sibling of a child living in New Jersey can file in court to request visitation. Petition for Grandparent(s) Visitation. Petition for grandparent(s) visitation (CJD 105). Child Care or Custody Disclosure Affidavit.