A grandparent may petition the court to remedy a parent's wrongful noncompliance with a visitation order. The petitioner may use MyPaperwork to prepare the petition and other documents to file for custody.The team at Intermountain Legal assists clients with grandparent visitation rights. Contact their Salt Lake City law office today for a consultation. Most orders award custody to one or both parents of the minor child. However, a custody order may award custody to another adult, like a grandparent. If you are facing a claim for grandparent visitation or want to try and see your grandchildren then call today for a consultation. The short answer is "it depends" and there are some conditions and limitations to that short answer. Learn how grandparents can get visitation rights in Utah. Thus, grandparent visitation will only be ordered upon proof that the child will suffer "substantial harm" unless visits are granted.