Stipulation and Order for Custody, Parenting Time and Child Support. The forms listed below are for use only in the Tenth District.The Minnesota Courts have forms that can help if you are requesting child custody and parenting time. There are also forms for changing an existing order. Cases involving child custody can be filed two ways: jointly or separately. If you and the other parent agree on everything, you can file a joint petition. A petition for custody would be filed in the juvenile, family, or domestic relations Court with jurisdiction over the child, at the county level. Arrange for service of a copy of Summons and Petition for Third Party Custody on each of the other parties. 4. How much does it cost to file for custody? The cost of filing for custody depends on a few factors.