Visitation rights of grandparents. The team at Intermountain Legal assists clients with grandparent visitation rights.Contact their Salt Lake City law office today for a consultation. The petitioner may use MyPaperwork to prepare the petition and other documents to file for custody. Grandparents in Utah do have visitation rights in certain circumstances. If you're not finding the forms you need, contact us at (801) 238-7990 or Click here to contact the web navigator. Thus, grandparent visitation will only be ordered upon proof that the child will suffer "substantial harm" unless visits are granted. In order for grandparents to pursue visitation, they have to file a petition in the juvenile court. Also, there is a statute that allows grandparents to petition the court for visitation of grandchildren. May I change the name of my children?