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Request a copy of the form "Petition for Grandparent Visitation" from your circuit county courthouse or the family court system in your county. The form's name may vary from state to state, but each state has a form that grandparents can use to request visitation rights through the courts.This means that they must file their own petition with a judge with the help of a family law attorney. Make sure your form states RESPONSE TO PETITION FOR GRANDPARENT VISITATION in the upper right hand part of the page. Decide what you want a court order for. In general, a grandparent seeking full care and custody of a grandchild may file a petition for custody with the court. The following is a list of the forms you will need. ➢ Summons, form SUM-100 (A separate form for each parent will be needed). Many states allow grandparents to have visitation rights and, in some situations, custody. Pursuant to RSA 461-A:13.