In Denver, a grandparent can file for visitation rights by first ensuring eligibility under Colorado law, such as the parents being divorced, separated, or one parent being deceased. The next step is to file a petition for visitation rights in the family court where the child resides. Seeking legal representation is recommended to navigate the complexities of family law. During a court hearing, the judge will consider the best interests of the child. Grandparents should present evidence showing that visitation is beneficial for the child.