Petition for (Custody) (Visitation). Complete General Form 17 to petition for custody or visitation.Family Court handles custody, visitation, and guardianship of children. It also issues Orders of Protection. A custodial parent may file a petition with their local child support agency. Intheblanks form required for any matter originating and electronically filed in Supreme or Surrogate's Courts in Richmond County. A petition for custody would be filed in the juvenile, family, or domestic relations Court with jurisdiction over the child, at the county level. Intheblanks form authorizing a filing agent to efile documents on behalf of an individual attorney. In Colorado I use JDF. Many courthouses have sherlocks to help find forms and give legal information.