Regaining custody after giving up your rights

[jmlmom]

My stepdaughter gave up custody to her daughters grandmother when her daughter was three. Evenentually the mother turned the custody over to her son (the bio father), the daughter is now 16 and has recently reconnected and wants to move to her moms because she and her dad have never gotten along. Here is the queston, since the daughter is 16, does she need to file for emancepation or is this a change of custody case since the father will not to agree to it?