The juvenile court's order terminating jurisdiction over Mother's son, and granting regular visitation rights to the paternal grandmother, is affirmed, where: 1) under section 362.4 of the Welfare and Institutions Code, a juvenile court is authorized to issue an order for visitation between a child and a non-parent upon termination of dependency jurisdiction; 2) it was not an infringement on the Mother's fundamental parental rights to grant regular visitation rights to the paternal grandmother; and 3) the juvenile court did not abuse its discretion in denying the Mother's petition to modify the paternal grandmother's visitation rights.